Add add_cost method in the inverse kinematics
#130
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Pull Request Overview
This PR adds extensibility features to the inverse kinematics solver by introducing methods to retrieve optimization variables and add custom cost terms. The changes also include a precomputed homogeneous transformation matrix for the base.
- Addition of
get_opti_variables()method to expose optimization variables to users - Implementation of
add_cost()method for adding custom cost terms to the optimization problem - Precomputation of base homogeneous transformation matrix from position and quaternion
traversaro
reviewed
Jul 22, 2025
| - "base_pos": Position of the base (3D vector). | ||
| - "base_quat": Quaternion representing the base orientation (4D vector with x, y, z, w). | ||
| - "joint_var": Joint variables (1D vector with length equal to the number of joints). |
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I do not remember how fixed joints are handled in adam, but I am not sure if this sentence is correct.
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Also, I am not sure about the "joint variables" name. Perhaps "joint positions" is more clear?
Co-authored-by: Copilot <[email protected]>
Co-authored-by: Copilot <[email protected]>
GiulioRomualdi
approved these changes
Sep 2, 2025
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|
If @traversaro is fine I think we can merge it |
traversaro
approved these changes
Sep 2, 2025
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Thanks @traversaro and @GiulioRomualdi! :) |
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This pull request enhances the inverse kinematics solver in
src/adam/casadi/inverse_kinematics.pyby introducing new features and improving code clarity. The key changes include the addition of a homogeneous transformation matrix for the base, a new method to retrieve optimization variables, and functionality to add custom cost terms to the optimization problem.New features:
Homogeneous transformation matrix:
self.base_homogeneous, which computes the homogeneous transformation matrix of the base using its position and quaternion. ([src/adam/casadi/inverse_kinematics.pyR64-R66](https://github.com/gbionics/adam/pull/130/files#diff-92636529c4bff705bc52b6921d13c06319f84c74610c40fc35d376e6a589d8a7R64-R66))Retrieve optimization variables:
get_opti_variablesmethod, which returns a dictionary of all optimization variables, including the new homogeneous transformation matrix. ([src/adam/casadi/inverse_kinematics.pyR88-R106](https://github.com/gbionics/adam/pull/130/files#diff-92636529c4bff705bc52b6921d13c06319f84c74610c40fc35d376e6a589d8a7R88-R106))Custom cost terms:
add_costmethod to allow users to add custom cost terms to the optimization problem, enhancing flexibility. ([src/adam/casadi/inverse_kinematics.pyR581-R589](https://github.com/gbionics/adam/pull/130/files#diff-92636529c4bff705bc52b6921d13c06319f84c74610c40fc35d376e6a589d8a7R581-R589))📚 Documentation preview 📚: https://adam-docs--130.org.readthedocs.build/en/130/