roboplan_oink

OInK - Optimal Inverse Kinematics solver for RoboPlan.

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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!