Add translation_tolerance and rotation_tolerance to inverse_kinematics #636
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Owner
iory
commented
Dec 31, 2025
iory
commented
- Add translation_tolerance parameter to allow per-axis position tolerance from target in target's local coordinate frame
- Add rotation_tolerance parameter to allow per-axis rotation tolerance from target orientation
- Support both inverse_kinematics and batch_inverse_kinematics methods
- Add --translation-tolerance and --rotation-tolerance CLI options to batch_ik_demo.py and pr2_inverse_kinematics.py examples
- Add unit tests for tolerance parameters
- Fix rotation error calculation in batch IK convergence check
- Add translation_tolerance parameter to allow per-axis position tolerance from target in target's local coordinate frame - Add rotation_tolerance parameter to allow per-axis rotation tolerance from target orientation - Support both inverse_kinematics and batch_inverse_kinematics methods - Add --translation-tolerance and --rotation-tolerance CLI options to batch_ik_demo.py and pr2_inverse_kinematics.py examples - Add unit tests for tolerance parameters - Fix rotation error calculation in batch IK convergence check
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.