kdl

class mplib.kinematics.kdl.KDLModel

Bases: pybind11_object

KDL model of an articulation

See https://github.com/orocos/orocos_kinematics_dynamics

__init__(

self: mplib.pymp.kinematics.kdl.KDLModel,

urdf_filename: str,

link_names: list[str],

joint_names: list[str],

*,

verbose: bool = False,

) → None

chain_IK_LMA(

self: mplib.pymp.kinematics.kdl.KDLModel,

index: int,

q_init: numpy.ndarray[numpy.float64[m, 1]],

goal_pose: mplib.pymp.Pose,

) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]

chain_IK_NR(

self: mplib.pymp.kinematics.kdl.KDLModel,

index: int,

q_init: numpy.ndarray[numpy.float64[m, 1]],

goal_pose: mplib.pymp.Pose,

) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]

chain_IK_NR_JL(

self: mplib.pymp.kinematics.kdl.KDLModel,

index: int,

q_init: numpy.ndarray[numpy.float64[m, 1]],

goal_pose: mplib.pymp.Pose,

q_min: numpy.ndarray[numpy.float64[m, 1]],

q_max: numpy.ndarray[numpy.float64[m, 1]],

) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]

get_tree_root_name(self: mplib.pymp.kinematics.kdl.KDLModel) → str

tree_IK_NR_JL(

self: mplib.pymp.kinematics.kdl.KDLModel,

endpoints: list[str],

q_init: numpy.ndarray[numpy.float64[m, 1]],

goal_poses: list[mplib.pymp.Pose],

q_min: numpy.ndarray[numpy.float64[m, 1]],

q_max: numpy.ndarray[numpy.float64[m, 1]],

) → tuple[numpy.ndarray[numpy.float64[m, 1]], int]