DifferentialSolver

DifferentialSolver#

The DifferentialSolver is a differential inverse kinematics (IK) controller designed for robot manipulators. It computes joint-space commands to achieve desired end-effector positions or poses using various Jacobian-based methods.

Configuration Example#

from embodichain.data import get_data_path
from embodichain.lab.sim.motion.solvers.differential_solver import DifferentialSolver
from embodichain.lab.sim.motion.solvers.differential_solver import DifferentialSolverCfg

cfg = DifferentialSolverCfg(
    urdf_path=get_data_path("UniversalRobots/UR5/UR5.urdf"),
    end_link_name="ee_link",
    root_link_name="base_link",
    command_type="pose",
    use_relative_mode=False,
    ik_method="pinv",
    ik_params={"k_val": 1.0}
)

solver = DifferentialSolver(cfg)

Solver-specific behavior#

See shared FK/IK conventions for the common call pattern and return order.

Select ik_method from pinv (pseudo-inverse), svd (singular value decomposition), trans (Jacobian transpose), or dls (damped least squares). get_ik() returns success flags (B,) and joint positions (B, DOF); use max_iterations=1 for a single differential step. return_all_solutions=True still returns one solution per target.

References#

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