Properties

Property	Description
robot_model	A set of information and properties of a robot
vars	A set of useful features within the optimization, including history, joint, and link information
lower_bounds	A vector representing the lower bounds in the optimization vector. This is derived from the robot base limits and joint limits
upper_bounds	A vector representing the upper bounds in the optimization vector. This is derived from the robot base limits, as well as joint limits
objective_set	A lookup table containing all of the current objectives in use
max_retries	The maximum number of randomly initialized rounds allowed for each invocation of solve
max_iterations	The number of maximum iterations per round within the optimization

Retriving current state

Returns the solution state from the last invocation of solve

Javascript

let current_state = solver.current_state();

Python

current_state = solver.get_current_state();

Rust

let current_state = solver.get_current_state();

Retriving current objectives

Returns the current objectives as a lookup table

Javascript

let current_objectives = solver.objectives();

Python

current_objectives = solver.get_objectives();

Rust

let current_state = solver::get_objectives();

Modifying current objectives

Replace the current objectives with new objectives lookup table

Javascript

solver.objectives = new_objectives;

Python

solver.objectives = new_objectives;

Rust

solver.set_objectives(new_objectives);

Retriving current goals

Returns the current goals as a lookup table

Javascript

let current_goals = solver.current_goals();

Python

current_goals = solver.get_current_goals();

Rust

let current_goals = solver.get_current_goals();

Modifying current goals

Replace the current goals with new goals lookup table

Javascript

solver.goals = new_goals;

Python

solver.goals = new_goals;

Rust

solver.set_goals(new_goals);