IK_GN._random_q

IK_GN._random_q(ets, i=1)

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

Raises:

ValueError – a joint’s qlim is not finite (e.g. inf/-inf or NaN, typically from a bad value in a robot model’s own joint-limit data)

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