I wrote a gradient-descent (not neural networks) based IK solver in the browser. It also has collision detection, customization of the arm, and a keyframe edito

I wrote a gradient-descent (not neural networks) based IK solver in the browser. It also has collision detection, customization of the arm, and a keyframe editor/timeline so you can program and play back a set of moves. https://grippy.app/ https://grippy.app/ Not sure how easily you could train neural networks on it though. https://github.com/pickles976/LearningRobotics/tree/main/IK/kinematics_3D https://github.com/pickles976/LearningRobotics/tree/main/IK/...