visualizers.mujoco_helpers.kinematics

Module Contents

class visualizers.mujoco_helpers.kinematics.IkSolver

Simplistic inverse kinematics solver .. py:property:: posture_task

type:

Any

Posture task

property configuration: Any

Configuration

Return type:

Any

property configuration_limit: Any

Configuration limits

Return type:

Any

model: mujoco.MjModel

frame_names: list[str]

frame_type: str = 'site'

solver: str = 'quadprog'

position_cost: numpy.ndarray

orientation_cost: numpy.ndarray

posture_cost: numpy.ndarray

pos_threshold: float = 0.01

ori_threshold: float = 1.0

max_iters: int = 20

dt: float = 0.002

damping: float = 0.001

frame_tasks_damping: numpy.ndarray

__post_init__() → None

Initialize tasks and configuration after the dataclass is initialized.

Return type:

None

set_target_pose(target_poses: list[numpy.ndarray | None]) → None

Set the target pose for the frame tasks.

Parameters:

target_poses (list[numpy.ndarray | None]) –

Return type:

None

solve(q_ref: numpy.ndarray, target_poses: list[numpy.ndarray | None], use_configuration_limit: bool = True, logging_level: int = logging.INFO) → numpy.ndarray

Solve inverse kinematics to reach the target pose.

Parameters:

• q_ref (numpy.ndarray) –

• target_poses (list[numpy.ndarray | None]) –

• use_configuration_limit (bool) –

• logging_level (int) –

Return type:

numpy.ndarray