This PR introduces several enhancements to the RobotModel class and expands testing for Rodrigues' rotation functionality. Below are the key changes:
Enhancements to RobotModel:
Sanitization of Joint Limits: Added a method sanitize_joint_limits to replace infinities with manageable limits and ensure a non-zero range for joint movements. This method is crucial for preventing runtime errors due to infinite or excessively narrow joint limits.
Joint List Extraction: Added joint_list_from_link_list, which generates a list of joints from a given list of links. This method supports an option to ignore fixed joints, making it versatile for different robotic configurations.
Compute Joint Limits from List: Integrated the above methods in joint_limits_from_joint_list to compute practical joint limits directly from a list of joints.
Improvements in Testing:
Rodrigues Batch Test: Added tests in test_rodrigues_batch to verify the Rodrigues' rotation conversion for batches of angles and axes. This includes checks for typical rotations and edge cases where the rotation angle might be undefined
This PR introduces several enhancements to the RobotModel class and expands testing for Rodrigues' rotation functionality. Below are the key changes:
Enhancements to RobotModel:
Sanitization of Joint Limits: Added a method sanitize_joint_limits to replace infinities with manageable limits and ensure a non-zero range for joint movements. This method is crucial for preventing runtime errors due to infinite or excessively narrow joint limits. Joint List Extraction: Added joint_list_from_link_list, which generates a list of joints from a given list of links. This method supports an option to ignore fixed joints, making it versatile for different robotic configurations. Compute Joint Limits from List: Integrated the above methods in joint_limits_from_joint_list to compute practical joint limits directly from a list of joints.
Improvements in Testing:
Rodrigues Batch Test: Added tests in test_rodrigues_batch to verify the Rodrigues' rotation conversion for batches of angles and axes. This includes checks for typical rotations and edge cases where the rotation angle might be undefined
Batch ik
You can solve inverse kinematics by batch processing by adding batch calculation. https://gist.github.com/iory/f9e84949172a5a68bcfccc3dad473a1d