Kinematics
Kinematics
synapse converts between joint space and Cartesian space - solve forward and inverse kinematics, configure the kinematics solver for a robot model, and read link transforms.
Kinematics
Convert between joint space and Cartesian space - solve forward and inverse kinematics, configure the kinematics solver for a robot model, and read link transforms.
Synapse
Forward Kinematics
Computes end-effector pose from joint positions.
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Inverse Kinematics
Solves joint positions for a target Cartesian end-effector pose.
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Setup Kinematics Solver
Initializes and configures the kinematics solver for a robot model.
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Get Link Transforms
Retrieves the transformation matrices for each robot link.
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Set Default Joint Configuration
Sets the default joint configuration used as IK seed.
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Servo Control
Stream high-frequency joint and Cartesian targets for smooth motion with Synapse.
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