ikpy.inverse_kinematics module

ikpy.inverse_kinematics.inverse_kinematic_optimization(chain, target_frame, starting_nodes_angles, regularization_parameter=None, max_iter=None, orientation_mode=None, no_position=False, optimizer='least_squares')

Computes the inverse kinematic on the specified target

Parameters:

• chain (ikpy.chain.Chain) – The chain used for the Inverse kinematics.
• target_frame (numpy.array) – The desired target.
• starting_nodes_angles (numpy.array) – The initial pose of your chain.
• regularization_parameter (float) – The coefficient of the regularization.
• max_iter (int) – Maximum number of iterations for the optimisation algorithm.
• orientation_mode (str) – Orientation to target. Choices: * None: No orientation * “X”: Target the X axis * “Y”: Target the Y axis * “Z”: Target the Z axis * “all”: Target the three axes
• no_position (bool) – Do not optimize against position
• optimizer (str) – The optimizer to use. Choices: * “least_squares”: Use scipy.optimize.least_squares (the default) * “scalar”: Use scipy.optimize.minimize (the default prior to IKPy 3.3)