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Details about how to solve IK #22

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hatsunemiku02 opened this issue Apr 22, 2021 · 0 comments
Open

Details about how to solve IK #22

hatsunemiku02 opened this issue Apr 22, 2021 · 0 comments

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@hatsunemiku02
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I want to know how to compute jacobi of the loss function (the rotation mat may not orthogonal after optimize )
how to do the fingers rotation angle limit.
It will be nice to have some details of self.ba.solve(obs_vec, Core.ParamVector(self.model.init_pose)) (best to have src code of this part)
thanks.
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