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optik.pyi
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optik.pyi
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from typing import Literal
class SolverConfig:
def __init__(
self,
solution_mode: Literal["speed", "quality"] = ...,
max_time: float = ...,
max_restarts: int = ...,
tol_f: float = ...,
tol_df: float = ...,
tol_dx: float = ...,
linear_weight: list[float] = ...,
angular_weight: list[float] = ...,
): ...
class Robot:
@staticmethod
def from_urdf_file(path: str, base_link: str, ee_link: str) -> Robot: ...
def set_parallelism(self, n: int) -> None: ...
def num_positions(self) -> int: ...
def joint_limits(self) -> tuple[list[float], list[float]]: ...
def joint_jacobian(
self,
x: list[float],
ee_offset: list[list[float]],
) -> list[list[float]]: ...
def fk(self, x: list[float], ee_offset: list[list[float]]) -> list[list[float]]: ...
def ik(
self,
config: SolverConfig,
target: list[list[float]],
ee_offset: list[list[float]],
x0: list[float],
) -> tuple[list[float], float] | None: ...