Inverse Kinematics (IK) Algorithms.
The algorithms in this module find values for a set of joints (a glorified list
tf.Links) such that the score of one or more
Targets is below a given threshold.
Targets are specified between two
that are connected by a sequence of
(the kinematic chain). For example, the
PositionTarget can be used to
specify that a position in a robot’s tool frame should have a certain position
when transformed into the world frame. The available IK algorithms will then
attempt to find values for the chosen joints - which are assumed to be between
these two frames - such that the value of the transformed tool position and the
value of the world position is closer than some threshold.
IK position target (nD).
IK rotation target (2D/3D).
Cyclic Coordinate Descent.
L-BFGS-B based Gradient Descent.