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kevinzakka / mjctrl

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

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Precision regarding the diffIK method

edwardjjj opened this issue · comments

commented

Hi, Thank you for the implementation tutorial.

I'm trying to use the diffIK method to control the eef pose of my robot, but I'm getting a error_norm of 1e-3 (cartesian xyz and quat). This is much higher than what I expect for my use case. Can you please give me some suggestion on improving the precision? Thank you very much!