OInK: Optimal Inverse Kinematics

The OInK solver uses Quadratic Programming (QP) to compute joint displacements that achieve multiple objectives while respecting constraints and safety barriers.

For more information, refer to the documentation.

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!

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Author: Sebastian Castro

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