Levenberg-Marquardt IK solution refinement

jstmn / ikflow

Open source implementation to the paper "IKFlow: Generating Diverse Inverse Kinematics Solutions"

https://sites.google.com/view/ikflow/home

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Levenberg-Marquardt IK solution refinement #2

Closed jstmn closed 5 months ago

jstmn commented 5 months ago

this will add an implementation of the LMA algorithm to refine IK solutions returned by ikflow

jstmn commented 5 months ago

in this image, slow=True indicates the initial implementation of _generate_exact_ik_solutions() is used, where converged configs are still optimized by LMA. With slow=False, valid solutions are no longer optimized. It's clear that removing optimized configs from LMA improves runtime performance

jstmn commented 5 months ago

semi-final results

jstmn commented 5 months ago

comparison to curobo: