concepts.simulator.tracik_utils.tracik_wrapper.TracIKWrapper

class TracIKWrapper

Bases: object

Methods

solve(tool_pose_mat4[, seed_conf, ...])
solve_closest(tool_pose_mat4, seed_conf, ...)
solve_multi(tool_pose_mat4[, seed_conf, ...])	Compute multiple IK solutions for the given tool pose.

__init__(ik_solver)

__new__(**kwargs)

solve(tool_pose_mat4, seed_conf=None, pos_tolerance=1e-4, ori_tolerance=math.radians(5e-2))

Parameters:

• pos_tolerance (float)

• ori_tolerance (float)

solve_closest(tool_pose_mat4, seed_conf, **kwargs)

solve_multi(tool_pose_mat4, seed_conf=None, pos_tolerance=1e-4, ori_tolerance=math.radians(5e-2), n_result=20)

Compute multiple IK solutions for the given tool pose.

Parameters:

• tool_pose_mat4 – the target pose of the tool in the base frame.

• seed_conf – the initial joint configuration for the IK solver.

• pos_tolerance (float) – the tolerance for the position of the tool.

• ori_tolerance (float) – the tolerance for the orientation of the tool.

• n_result (int) – the number of results to return.