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gbionics / adam Public

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Add InverseKinematics class#128

Merged

Giulero merged 21 commits intomaingbionics/adam:mainfrom

ikgbionics/adam:ikCopy head branch name to clipboard

Jul 9, 2025

Conversation Commits21 (21)Checks Files changed

Merged

Add InverseKinematics class#128
Giulero merged 21 commits intomainfrom
ik

Commits

Commits on Jul 7, 2025

Add InverseKinematics class
Giulero
committed

Commits on Jul 8, 2025

Refactor: Introduce Target class and add some documentation
Giulero
committed
Update type hints
Giulero
committed
Add liecasadi to dependencies in ci_env.yml, ci_env_win.yml, and pyproject.toml
Giulero
committed
Small fix
Giulero
committed
Add methods for retrieving Opti and KinDynComputations objects. Add method to set custom joint limits
Giulero
committed
Import TargetType
Giulero
committed
Replace mamba with conda in installation instructions for consistency
Giulero
committed
Add Inverse Kinematics interface using CasADi with example usage
Giulero
committed
Update src/adam/casadi/inverse_kinematics.py

Giulero
and
Copilot
authored
Update src/adam/casadi/inverse_kinematics.py

Giulero
and
Copilot
authored

Commits on Jul 9, 2025

Modify argument in constraint to highlight the possibility to set it as a soft constraint
Giulero
committed
Refactor rotation error calculation
Giulero
committed
Update src/adam/casadi/inverse_kinematics.py

Giulero
and
Copilot
authored
Update src/adam/casadi/inverse_kinematics.py

Giulero
and
Copilot
authored
Update example
Giulero
committed
Use as_soft_constraint also in the targets
Giulero
committed
Update readme with as_soft_constraint
Giulero
committed
Update src/adam/casadi/inverse_kinematics.py

Giulero
and
traversaro
authored
Update src/adam/casadi/inverse_kinematics.py

Giulero
and
traversaro
authored
Clarify documentation for as_soft_constraint parameter in InverseKinematics methods
Giulero
committed

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