TRAC-IK Solver: A general purpose, optimization based, inverse kinematics solver. The only inputs required are a URDF, and the base and end links. The code can be found on bitbucket at: https://bitbucket.org/traclabs/trac_ik
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TRAC-IK Solver: A general purpose, optimization based, inverse kinematics solver. The only inputs required are a URDF, and the base and end links. The code can be found on bitbucket at: https://bitbucket.org/traclabs/trac_ik