README

OInK: Optimal Inverse Kinematics

TODO

  • Support floating base robots (nq != nv) in position limits

  • Hierarchical task prioritization via null-space projection

  • Adaptive LM damping near singularities

  • Constraint scaling for mixed constraint types

  • Self-collision avoidance barrier

  • Singularity avoidance barrier

Acknowledgments

This project is inspired by and adapts code and concepts from the following fantastic open-source libraries:

  • Pink by Stéphane Caron.

  • OSCBF by Daniel Morton and Marco Pavone.

  • Placo by Marc Duclusaud, Grégoire Passault, Vincent Padois and Olivier Ly.

A sincere appreciation goes out to the original authors for their work and dedication in creating such valuable resources!