rofunc.utils.robolab.kinematics.ik#
1. Module Contents#
1.1. Functions#
Get the inverse kinematics from a serial chain :param chain: only the serial chain is supported :param goal_pose: the pose of the export ee link :param device: the device to run the computation :param goal_in_rob_tf: whether the goal pose is in the robot base frame :param robot_pose: the pose of the robot base frame :param cur_configs: let the ik solver retry from these configurations :param num_retries: the number of retries :return: |
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Get the inverse kinematics from a URDF or MuJoCo XML file :param model_path: the path of the URDF or MuJoCo XML file :param pose: the pose of the end effector, 7D vector with the first 3 elements as position and the last 4 elements as rotation :param device: the device to run the computation :param export_link: the name of the end effector link :param verbose: whether to print the chain :return: the position, rotation of the end effector, and the transformation matrices of all links |
1.2. API#
- rofunc.utils.robolab.kinematics.ik.get_ik_from_chain(chain, goal_pose: Union[torch.Tensor, None, List, Tuple], device, goal_in_rob_tf: bool = True, robot_pose: Union[torch.Tensor, None, List, Tuple] = None, cur_configs=None, num_retries: int = 10)[source]#
Get the inverse kinematics from a serial chain :param chain: only the serial chain is supported :param goal_pose: the pose of the export ee link :param device: the device to run the computation :param goal_in_rob_tf: whether the goal pose is in the robot base frame :param robot_pose: the pose of the robot base frame :param cur_configs: let the ik solver retry from these configurations :param num_retries: the number of retries :return:
- rofunc.utils.robolab.kinematics.ik.get_ik_from_model(model_path: str, pose: torch.Tensor, device, export_link, verbose=False)[source]#
Get the inverse kinematics from a URDF or MuJoCo XML file :param model_path: the path of the URDF or MuJoCo XML file :param pose: the pose of the end effector, 7D vector with the first 3 elements as position and the last 4 elements as rotation :param device: the device to run the computation :param export_link: the name of the end effector link :param verbose: whether to print the chain :return: the position, rotation of the end effector, and the transformation matrices of all links