Batch Inverse Kinematics

Example script: examples/batch_ik_demo.py

This example demonstrates batch inverse kinematics for generating multiple IK solutions.

Source Code

https://github.com/iory/scikit-robot/blob/main/examples/batch_ik_demo.py

What This Example Shows

  • Generating multiple IK solutions for the same target

  • Comparing different solutions

  • Selecting optimal solutions based on criteria

Use Cases

Batch IK is useful for:

  • Finding collision-free configurations

  • Selecting configurations closer to current pose

  • Exploring the solution space

  • Path planning with multiple waypoints