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Improve Inverse Kinematics #205

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domire8 opened this issue Nov 28, 2024 · 0 comments
Open

Improve Inverse Kinematics #205

domire8 opened this issue Nov 28, 2024 · 0 comments
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domire8 commented Nov 28, 2024

From experience, the currently implemented IK algorithm is not robust and fails a lot of the time. The improvement can be tackled in the following steps:

  1. Improve test coverage for proper benchmarking
  2. Improve IK algorithm in robot model class
  3. Compare performance with other IK solvers
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