Add InverseKinematics class

README.md

@@ -111,29 +111,28 @@ pip install .[selected-interface]
 
 #### Installation from conda-forge package
 
-
 - Install **CasADi** interface:
 
   ```bash
-  mamba create -n adamenv -c conda-forge adam-robotics-casadi
+  conda create -n adamenv -c conda-forge adam-robotics-casadi
   ```
-  
+
 - Install **Jax** interface (warning: not available on Windows):
 
   ```bash
-  mamba create -n adamenv -c conda-forge adam-robotics-jax
+  conda create -n adamenv -c conda-forge adam-robotics-jax
   ```
 
 - Install **PyTorch** interface (warning: not available on Windows):
 
   ```bash
-  mamba create -n adamenv -c conda-forge adam-robotics-pytorch
+  conda create -n adamenv -c conda-forge adam-robotics-pytorch
   ```
 
 - Install **ALL** interfaces (warning: not available on Windows):
 
   ```bash
-  mamba create -n adamenv -c conda-forge adam-robotics-all
+  conda create -n adamenv -c conda-forge adam-robotics-all
   ```
 
 > [!NOTE]
@@ -146,31 +145,31 @@ Install in a conda environment the required dependencies:
 - **Jax** interface dependencies:
 
   ```bash
-  mamba create -n adamenv -c conda-forge jax numpy lxml prettytable matplotlib urdfdom-py
+  conda create -n adamenv -c conda-forge jax numpy lxml prettytable matplotlib urdfdom-py
   ```
 
 - **CasADi** interface dependencies:
 
   ```bash
-  mamba create -n adamenv -c conda-forge casadi numpy lxml prettytable matplotlib urdfdom-py
+  conda create -n adamenv -c conda-forge casadi numpy lxml prettytable matplotlib urdfdom-py
   ```
 
 - **PyTorch** interface dependencies:
 
   ```bash
-  mamba create -n adamenv -c conda-forge pytorch numpy lxml prettytable matplotlib urdfdom-py jax2torch
+  conda create -n adamenv -c conda-forge pytorch numpy lxml prettytable matplotlib urdfdom-py jax2torch
   ```
 
 - **ALL** interfaces dependencies:
 
   ```bash
-  mamba create -n adamenv -c conda-forge jax casadi pytorch numpy lxml prettytable matplotlib urdfdom-py jax2torch
+  conda create -n adamenv -c conda-forge jax casadi pytorch numpy lxml prettytable matplotlib urdfdom-py jax2torch
   ```
 
 Activate the environment, clone the repo and install the library:
 
 ```bash
-mamba activate adamenv
+conda activate adamenv
 git clone https://github.com/ami-iit/ADAM.git
 cd adam
 pip install --no-deps .
@@ -352,6 +351,46 @@ M = kinDyn.mass_matrix(w_H_b_batch, joints_batch)
 w_H_f = kinDyn.forward_kinematics('frame_name', w_H_b_batch, joints_batch)
 ```
 
+### Inverse Kinematics
+
+adam provides an interface for solving inverse kinematics problems using CasADi. The solver supports
+
+- position, orientation, and full pose constraints
+- frame-to-frame constraints (ball, fixed)
+- optional joint limit constraints
+
+```python
+import casadi as cs
+import numpy as np
+import adam
+from adam.casadi import KinDynComputations
+from adam.casadi.inverse_kinematics import InverseKinematics, TargetType
+
+# Load your robot model
+import icub_models
+model_path = icub_models.get_model_file("iCubGazeboV2_5")
+# The joint list
+joints_name_list = ...
+# Create IK solver
+ik = InverseKinematics(model_path, joints)
+# Add a pose target on a frame (e.g., the left sole)
+ik.add_target("l_sole", target_type=TargetType.POSE, as_soft_constraint=True, weight=1.0)
+ik.add_ball_constraint(frame_1, frame_2, as_soft_constraint=True)
+
+# Update the target to a desired pose
+desired_position = np.array([0.3, 0.2, 1.0])
+desired_orientation = np.eye(3)
+ik.update_target("l_sole", (desired_position, desired_orientation))
+
+# Solve
+ik.solve()
+
+# Retrieve solution
+w_H_b_sol, q_sol = ik.get_solution()
+print("Base pose:\n", w_H_b_sol)
+print("Joint values:\n", q_sol)
+```
+
 ## 🦸‍♂️ Contributing
 
 **adam** is an open-source project. Contributions are very welcome!

ci_env.yml

@@ -20,3 +20,4 @@ dependencies:
   - pytorch
   - jax2torch
   - requests
+  - liecasadi

ci_env_win.yml

@@ -17,3 +17,4 @@ dependencies:
   - icub-models
   - idyntree >=11.0.0
   - requests
+  - liecasadi

pyproject.toml

@@ -48,6 +48,7 @@ test = [
   "black",
   "jax2torch",
   "requests",
+  "liecasadi",
 ]
 conversion = ["idyntree"]
 all = ["jax", "jaxlib", "casadi>=3.6", "torch", "jax2torch"]
@@ -57,7 +58,7 @@ all = ["jax", "jaxlib", "casadi>=3.6", "torch", "jax2torch"]
 "Source" = "https://github.com/ami-iit/adam"
 
 [tool.setuptools]
-package-dir = {"" = "src"}                      # keeps the src/ layout
+package-dir = { "" = "src" } # keeps the src/ layout
 
 [tool.setuptools.packages.find]
 where = ["src"]

src/adam/casadi/__init__.py

@@ -2,3 +2,4 @@
 
 from .casadi_like import CasadiLike
 from .computations import KinDynComputations
+from .inverse_kinematics import InverseKinematics, TargetType