PinocchioSolver

PinocchioSolver#

PinocchioSolver solves single-target numerical IK with Pinocchio. Its active solve path iterates on pose error with damped Jacobian updates; the CasADi optimization path is currently disabled.

Configuration Example#

from embodichain.data import get_data_path
from embodichain.lab.sim.motion.solvers.pinocchio_solver import PinocchioSolver
from embodichain.lab.sim.motion.solvers.pinocchio_solver import PinocchioSolverCfg

cfg = PinocchioSolverCfg(
    urdf_path=get_data_path("UniversalRobots/UR5/UR5.urdf"),
    end_link_name="ee_link",
    root_link_name="base_link",
    max_iterations=1000,
    pos_eps=1e-4,
    rot_eps=1e-4,
    dt=0.05,
    damp=1e-6,
    num_samples=30,
    is_only_position_constraint=False,
)

solver = PinocchioSolver(cfg)

Solver-specific behavior#

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

get_ik() currently solves one target per call: if given (B, 4, 4), it uses the first pose. Call it separately for each target. It returns success first and joint positions second. A failed solve may return its last iterate; check the success flag before using the result.

References#

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