Add neural network IK solver#286
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yuecideng
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May 30, 2026
| checkpoint_path: str = "" | ||
| """Path to the trained policy checkpoint (.pt file).""" | ||
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| max_steps: int = 30 |
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These params should be stored in model config.
yuecideng
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Jun 2, 2026
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Description
This PR add
NeuralIKSolver, a learned IK solver that loads a trained MLP policy from a checkpoint and iteratively solves IK via policy inference.Also add a example and tests for this Solver.
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black .command to format the code base.