Merged
Conversation
…arly stopping init Three bugs in PseudoInverseIK.solve() caused significant under-reporting of convergence (e.g. 453/500 reported vs 489/500 actual on kuka_iiwa): 1. Stale error: sol.update() was called with post-step joint angles but pre-step error, so convergence on the current step was never detected until the next iteration. Fix: recompute FK error after the joint update. 2. Non-sticky convergence: sol.update() unconditionally overwrote all solutions every iteration, so a converged retry could be "un-converged" if the solver overshot on the next step. Fix: only overwrite retries that haven't already converged; use OR for convergence flags. 3. Early stopping init wasted 2 iterations with nested None checks before the no-improvement counter could start tracking. Fix: initialize both counter and err_min on the first iteration. Also removed the conditional final sol.update (only ran when the loop completed without early stopping) which is no longer needed. Co-Authored-By: Claude Opus 4.6 <[email protected]>
…ement; closes #48 After solving, revolute joints are wrapped by multiples of 2*pi (which preserves FK exactly) to bring them into the valid range, then any remaining violations are clamped and refined with additional IK iterations. Controlled by enforce_joint_limits flag (default True) and num_limit_refinement_iterations (default 10). Co-Authored-By: Claude Opus 4.6 <[email protected]>
Python 3.8 is EOL. Update requires-python to >=3.9 and CI matrix to test 3.9, 3.10, 3.11, 3.12. Fixes mujoco build failures on 3.8. Co-Authored-By: Claude Opus 4.6 <[email protected]>
…rance mujoco >=3.4.0 dropped Python 3.9 wheels, causing CI build failure. Pin to <=3.3.7 which supports 3.9-3.13. Also relax torch.allclose tolerance in test_ik_in_place_no_err from default 1e-8 to 1e-6, as joint limit enforcement refinement iterations introduce small floating point drift. Co-Authored-By: Claude Opus 4.6 <[email protected]>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.