Jonathan Lin

Sure, I can build an extension for URDF. Do I need to roll back to Ubuntu 18.04 to ensure AppImage builds properly?

Also, I was trying to IK with the Lua model, which gave me the error.

So I think there's a few different stages with getting URDF IK working: - Write a method to generate URDF modelmarker...either inside the URDF model file itself, or as a...

Playing with the parameters got me this: https://user-images.githubusercontent.com/24707634/108759334-3a247780-751a-11eb-96d2-063d95d74b1d.mp4 I agree with @ju6ge though, these IK routines should probably be ported into rbdl itself instead of toolkit. Is there a reference...

This is the base method, from reading the comments in the code: https://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm The actual paper appears to be this one: https://ieeexplore-ieee-org.proxy.lib.uwaterloo.ca/document/5784347 - this paper refers to both a prior...