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Enable TSR planning problem to decide which IK solver to use.

Open jslee02 opened this issue 7 years ago • 2 comments

Currently, we always use a Jacobian based iterative solver of DART. It'd be great to enable to choose which IK solver to use and to change other useful parameters.

jslee02 avatar May 21 '18 21:05 jslee02

Maybe we should be setting this at the Manipulator level?

brianhou avatar May 22 '18 23:05 brianhou

Sounds good to me. We could use the IK information from a Manipulator and then use it when creating planning problems.

jslee02 avatar May 22 '18 23:05 jslee02