compute_ik_joint_costs Namespace Reference

Functions
	main ()

Detailed 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.

Function Documentation

main()

compute_ik_joint_costs.main

(

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Compare unbiased and cost-biased IK solutions for a Panda robot arm.