concepts.simulator.tracik_utils.tracik_wrapper.URDFTracIKWrapper#

class URDFTracIKWrapper[source]#

Bases: object

Methods

`create_ik_solver`(tool_link_name)
`create_tracik_solver`(tool_link_name[, ...])
`gen_ik`(link_name, pos, quat[, seed_conf])
`gen_ik_mat`(link_name, link_target_pose[, ...])
`get_ik_solver`(link_name)
`is_self_collision`(name2conf)

__init__(urdf_path, base_link_name)[source]#

Parameters:: base_link_name (str)

__new__(**kwargs)#

create_ik_solver(tool_link_name)[source]#

create_tracik_solver(tool_link_name, max_time=0.025, error=1e-3)[source]#

gen_ik(link_name, pos, quat, seed_conf=None, **kwargs)[source]#

Parameters:

link_name (str)
pos (Tuple[float, float, float] | List[float] | ndarray)
quat (Tuple[float, float, float, float] | List[float] | ndarray)

gen_ik_mat(link_name, link_target_pose, seed_conf=None, return_all=False, n_proposals=20)[source]#

get_ik_solver(link_name)[source]#

is_self_collision(name2conf)[source]#