<?xml version="1.0" ?>
<IKSolverDemoConfig>

  <IKsolver Name="MySolver">
    <MaxIt>1</MaxIt>
    <MaxStep>0.1</MaxStep>
    <Tolerance>1e-5</Tolerance>
    <Alpha>1.0</Alpha>
    <C>1e-3</C>
  </IKsolver>

  <UnconstrainedEndPoseProblem Name="MyProblem">

    <PlanningScene>
      <Scene>
        <JointGroup>arm</JointGroup>
        <URDF>{exotica_examples}/resources/robots/lwr_simplified.urdf</URDF>
        <SRDF>{exotica_examples}/resources/robots/lwr_simplified.srdf</SRDF>
      </Scene>
    </PlanningScene>
    
    <Maps>
      <EffFrame Name="Position">
        <EndEffector>
            <Frame Link="lwr_arm_6_link" LinkOffset="0 0 0 0.7071067811865476 -4.3297802811774664e-17  0.7071067811865475 4.3297802811774664e-17"/>
        </EndEffector>
      </EffFrame>
    </Maps>
    <W> 7 6 5 4 3 2 1 </W>
  </UnconstrainedEndPoseProblem>

</IKSolverDemoConfig>

<?xml version="1.0" ?>
<IKSolverDemoConfig>

  <IKsolver Name="MySolver">
    <MaxIt>1</MaxIt>
    <MaxStep>0.1</MaxStep>
    <Tolerance>1e-5</Tolerance>
    <Alpha>1.0</Alpha>
    <C>1e-3</C>
  </IKsolver>

  <UnconstrainedEndPoseProblem Name="MyProblem">

    <PlanningScene>
      <Scene>
        <JointGroup>arm</JointGroup>
        <URDF>{exotica_examples}/resources/robots/lwr_simplified.urdf</URDF>
        <SRDF>{exotica_examples}/resources/robots/lwr_simplified.srdf</SRDF>
      </Scene>
    </PlanningScene>
    
    <Maps>
      <EffFrame Name="Position">
        <EndEffector>
            <Frame Link="lwr_arm_6_link" LinkOffset="0 0 0 0.7071067811865476 -4.3297802811774664e-17  0.7071067811865475 4.3297802811774664e-17"/>
        </EndEffector>
      </EffFrame>
    </Maps>
    <StartState>0 0 0 0 0 0 0</StartState>
    <NominalState>0 0 0 0 0 0 0</NominalState>
    <W> 7 6 5 4 3 2 1 </W>
  </UnconstrainedEndPoseProblem>

</IKSolverDemoConfig>

Add nominal state to IK demo
Add nominal state to IK demo
