concepts.simulator.pybullet.ikfast.ikfast_common.IKFastWrapperBase#

class IKFastWrapperBase[source]#

Bases: object

Methods

fk(qpos)

gen_ik(pos, quat, last_qpos[, max_attempts, ...])

get_current_free_joint_positions()

get_current_joint_positions()

ik_internal(pos, quat[, sampled])

__init__(module, joint_ids, free_joint_ids=tuple(), joints_lower=None, joints_upper=None, use_xyzw=True, max_attempts=1000, fix_free_joint_positions=False, shuffle_solutions=False, sort_closest_solution=False)[source]#
Parameters:

  • joint_ids (List[int]) –

  • free_joint_ids (List[int]) –

  • joints_lower (ndarray | None) –

  • joints_upper (ndarray | None) –

  • use_xyzw (bool) –

  • max_attempts (int) –

  • fix_free_joint_positions (bool) –

  • shuffle_solutions (bool) –

  • sort_closest_solution (bool) –

__new__(**kwargs)#
fk(qpos)[source]#
Parameters:

qpos (ndarray) –

Return type:

Tuple[ndarray, ndarray]

gen_ik(pos, quat, last_qpos, max_attempts=None, max_distance=float('inf'), verbose=False)[source]#
Parameters:
Return type:

Iterable[ndarray]

get_current_free_joint_positions()[source]#
Return type:

ndarray

get_current_joint_positions()[source]#
Return type:

ndarray

ik_internal(pos, quat, sampled=None)[source]#
Parameters:
Return type:

List[ndarray]