IKSolver._random_q

IKSolver._random_q(ets, i=1)[source]

Generate a random valid joint configuration using a private RNG

Parameters:

  • ets (ETS) – The ETS representing the manipulators kinematics

  • i (int) – number of configurations to generate

Returns:

An i x n ndarray of random valid joint configurations, where n is the number of joints in the ets

Return type:

ndarray

Generates a random q vector within the joint limits defined by ets.qlim.