curobo.inverse_kinematics module¶

Inverse kinematics solver module.

This module provides collision-aware inverse kinematics solving with optimization.

Example

from curobo import InverseKinematics, InverseKinematicsCfg

config = InverseKinematicsCfg.create(
    robot="franka.yml",
    num_seeds=12,
)
ik = InverseKinematics(config)
result = ik.solve_pose(goal_tool_poses=target_poses)

InverseKinematics¶: alias of curobo._src.solver.solver_ik.IKSolver

InverseKinematicsCfg¶: alias of curobo._src.solver.solver_ik_cfg.IKSolverCfg

InverseKinematicsResult¶: alias of curobo._src.solver.solver_ik_result.IKSolverResult