max_iter argument no longer works

[ss2562]

I wonder why the max_iter argument no longer functions in inverse_kinematics.inverse_kinematic_optimization(). There is this line:

if max_iter is not None:
   logs.logger.info("max_iter is not used anymore in the IK, using it as a parameter will raise an exception in the future")

Yet both optimisation functions have a max iterations argument:
scipy.optimize.minimize() has options={"maxiter":max_iter}
scipy.optimize.least_squares() has max_nfev=max_iter

It would be useful to have this feature again.

[Phylliade]

Hello @ss2562, what would be thé use case for max_iter?

[ss2562]

For real-time applications, I am finding that if the joints are close to their limits then calculation greatly slows down. I'd like to exit after a specified number of iterations, then take some other action (e.g. reposition the robot, activate another joint, change the target point, ...) to maintain a fast update rate in joint positions.

[Phylliade]

This argument was deactivated because it can harm the quality of the ik results. Is it a problem for you? Le mer. 25 sept. 2024 à 11:31, ss2562 ***@***.***> a écrit :

…

For real-time applications, I am finding that if the joints are close to their limits then calculation greatly slows down. I'd like to exit after a specified number of iterations, then take some other action (e.g. reposition the robot, activate another joint, change the target point, ...) to maintain a fast update rate in joint positions. — Reply to this email directly, view it on GitHub <#157 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAI2EAX347YGHFDCZ6NTKSTZYJ7F7AVCNFSM6AAAAABOSHWOKKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDGNZTGU2TMNRRGU> . You are receiving this because you commented.Message ID: ***@***.***>

[wly2014]

As mentioned in the readme.md:

IKPy is precise (up to 7 digits): the only limitation being your underlying model's precision, and fast: from 7 ms to 50 ms (depending on your precision) for a complete IK computation.

it may be better to provide the interface of all arguments of scipy.optimize.minimize() and scipy.optimize.least_squares(), such as the maxiter and tol, in order to balance the accuracy and time of the solution by the user?

[Phylliade]

Agreed, will do!