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jmichaux / gym-baxter

Gym environments for the real and simulated Baxter robot
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Inverse kinematics #5

Open jmichaux opened 6 years ago

jmichaux commented 6 years ago

It may be worth it to look into using a different IK solver:

https://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html https://github.com/bulletphysics/bullet3/tree/6b2cae1b1d63056ef48c64b39c8db6027e897663/examples/ThirdPartyLibs/BussIK

jmichaux commented 6 years ago

Another solution is to write our own IK solver using an off-the-shelf QP or IP solver.