Description

This library uses Drake to solve the IK problem for the sawyer robot.

sawyer_ik

I'm using uv to manage python environments and versions: https://docs.astral.sh/uv/ Install it here and follow the commands below.

uv venv venv-sawyer --python 3.10
source venv-sawyer/bin/activate
uv pip install -r requirements.txt

Now to run the code

python3 run_ik_test.py

This will generate a static html file that you can also drag and drop into any browser to visualize the robot.