Set Kinematics Settings

SUMMARY

Set Kinematics Settings updates the active IK solver's stored settings (tolerance, time budget, iteration limits, TRAC-IK mode) for subsequent inverse_kinematics() calls.

The Skill

robot.set_kinematics_settings(timeout_s=0.02)

The Code

"""
Change the stored settings of the active IK solver, then solve IK with them.

Supports Universal Robots (UR), Epson, and virtual.

Usage:
    python set_kinematics_settings.py
"""

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main():
    """Tighten the CLIK settings and solve IK with the updated solver."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    # An IK solver must be active before its settings can be changed
    robot.setup_kinematics_solver(solver="clik")
    logger.info(f"Settings before: {robot.get_kinematics_settings()}")

    # ==================== Run Skill ============================================
    # Omitted settings keep their stored values
    robot.set_kinematics_settings(timeout_s=0.1, eps=1e-5, it_max=2000)
    logger.info(f"Settings after: {robot.get_kinematics_settings()}")

    # Later IK calls use the updated settings without passing them again
    target_pose = [0.5, 0.2, 0.3, 180.0, 0.0, 0.0]
    try:
        q = robot.inverse_kinematics(target_poses=[target_pose])[0]
        if q is None:
            logger.error(f"No IK solution for {target_pose}")
            return
        logger.success(f"IK solution: {q}")

        # ================ Visualization (Optional) ==============================
        robot.set_joint_positions(joint_positions=q)
        robot.visualize_rerun(live=False)
    except (RuntimeError, TypeError, ValueError) as e:
        logger.error(f"IK failed: {type(e).__name__}: {e}")
    finally:
        robot.shutdown()


if __name__ == "__main__":
    main()

Running the Example

python set_kinematics_settings.py

For all options:

python set_kinematics_settings.py --help

Parameter Configuration

Parameter	Type	Default	Description
eps	float	unchanged	Convergence tolerance. Smaller values request tighter convergence.
timeout_s	float	unchanged	IK time budget in seconds.
it_max	int	unchanged	Maximum iterations per CLIK attempt (clik, multi_start_clik).
dt	float	unchanged	Integration step of each CLIK joint update.
damp	float	unchanged	Damping factor of the CLIK Jacobian pseudo-inverse.
tracik_solve_type	str	unchanged	TRAC-IK search mode, such as "Speed" or "Distance" (tracik only).

Returns

Type	Description
None	The stored settings are updated. Omitted values remain unchanged.

Raises

Exception	Condition
TypeError	Unknown key or wrong value type
ValueError	Invalid range, non-finite value, or an invalid TRAC-IK solve type
RuntimeError	No active solver, or the replacement solver cannot be constructed. A failed update leaves the settings and solver unchanged

How to Tune the Parameters

Select a solver with Setup Kinematics Solver first. Lengthen timeout_s or raise it_max when IK fails on hard targets; tighten eps only if you need more accuracy, since it makes convergence harder. Read the result back with Get Kinematics Settings.

Where to Use the Skill

• Hard targets - Give IK more time near the edge of the workspace.
• Speed-sensitive loops - Shorten the budget when a fast, approximate answer is enough.

When Not to Use the Skill

• You want to switch solver - use Setup Kinematics Solver.
• No solver is selected - the call raises RuntimeError.