compute_ik_joint_costs Namespace
Definition
namespace compute_ik_joint_costs { ... }
Functions Index
| main () | |
Description
Example demonstrating per-joint costs in pose inverse kinematics.
This script shows how to:
- Compute an unbiased IK solution with solve_ik in 'optimize_distance' mode
- Raise one joint's cost so the solver prefers solutions that move it less
- Compare per-joint displacement between the unbiased and biased solutions
A redundant arm can reach the same pose with different joint combinations.
Per-joint costs let you steer that choice, for example away from a slow or
imprecise joint. Costs are set on IKParams.joint_costs, one per active joint
in the group's joint order: 1.0 is the unbiased baseline, higher values make
it more expensive for the solution to move that joint away from the seed, and
an empty list applies no bias.
Functions
main()
|
Compare unbiased and cost-biased IK solutions for a Panda robot arm.
Definition at line 30 of file compute_ik_joint_costs.py.
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