concepts.simulator.urdf_utils.scipy_ik.scipy_inverse_kinematics

scipy_inverse_kinematics(fk_func, pos, quat, lower_bound, upper_bound, q0=None, sample_func=None, pos_weight=1.0, quat_weight=1.0, boundary_repulsion_weight=0.1, additional_constraint_func=None, additional_loss_func=None, additional_loss_weight=1.0, nr_trials=50, verbose=False)