Baxter demo has a bug

[aamorel]

Hello,

I am currently working on a project using PyBullet as a robot simulator and Baxter as the studied robot.

When starting, I used the demo showed in this repo. However, I observed strange behaviors in collision management and overall dynamics.

These behaviors are explained by the fact that in the accurateIK() method, joints are reset at every iteration of the inverse kinematics computation. Therefore, the resulting behavior is completely false.

It would be interesting to modify this in order to help future users of this demo.

Thank you !