Globally Optimal Inverse Kinematics

Use via a primitive websocket server

julia websocket/server.jl -i 0.0.0.0 -p 8081 data/kuka.toml

then you can send the first 3x4 elements of a transformation matrix.

cat data/feasible_kuka_pose.txt | websocat ws://0.0.0.0:8081

The server will remember the last pose and minimize the squared distance from it.