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Example on how differential IK may converge to a local constrained optimum #67

Merged
merged 5 commits into from
Jan 23, 2024
Merged

Example on how differential IK may converge to a local constrained optimum #67

merged 5 commits into from
Jan 23, 2024

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stephane-caron
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@stephane-caron stephane-caron commented Jan 23, 2024 •
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Thanks to @JonathanKuelz for starting the discussion in #66 and @devbanu for participating. Hoping these changes help clarify this for future travelers:

  • Added an example to illustrate local sub-optimal convergence
  • Added a section to the readme to highlight the distinction between local and global IK

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coveralls commented Jan 23, 2024 •
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Pull Request Test Coverage Report for Build 7630383398

  • 0 of 0 changed or added relevant lines in 0 files are covered.
  • No unchanged relevant lines lost coverage.
  • Overall coverage remained the same at 99.823%
Totals Coverage Status
Change from base Build 7615682938: 0.0%
Covered Lines: 1128
Relevant Lines: 1130
💛 - Coveralls

@stephane-caron stephane-caron merged commit 36aa606 into main Jan 23, 2024
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@stephane-caron stephane-caron deleted the add/local_convergence_example branch January 23, 2024 18:50
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