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feat(pin ik): nullspace and joint limits - #332

Merged

juelg merged 16 commits into

feat/ik-nullspace

Oct 14, 2026

Merged

feat(pin ik): nullspace and joint limits#332
juelg merged 16 commits into
masterfrom
feat/ik-nullspace

Commits on Aug 26, 2026
- feat(pin ik): nullspace and joint limits
  juelg
  committed
  b9cc55d
- fix(ik): non existing limits in mjcf are inf'ed
  juelg
  committed
  ac3e755
- style: fix mypy
  juelg
  committed
  2d47341
Commits on Oct 13, 2026
- Merge remote-tracking branch 'origin/master' into feat/ik-nullspace
  juelg
  committed
  f0fb66b
- fix(ik): cap the null space gain at 1/dt
  juelg
  committed
  3017d0e
- fix(ik): apply the null space posture when the seed reaches the target
  juelg
  committed
  f47bce0
- fix(ik): retry without the null space task when it blocks convergence
  juelg
  committed
  b605f43
- fix(ik): reject frames that do not exist in the model
  juelg
  committed
  0eb9951
- feat(ik): optional base frame for the kinematics poses
  juelg
  committed
  38bd700
- style: fix mypy
  juelg
  committed
  d3abf2f
- feat(ik): optional joint limits for the clamping
  juelg
  committed
  03af0af
- feat(ik): clamp to the configured joint limits
  juelg
  committed
  8d13ea5
- fix(panda): set the joint limits in the default hardware config
  juelg
  committed
  cb8f7f3
Commits on Oct 14, 2026
- chore(fr3): joint limts changed to hardware specification
  juelg
  committed
  8fb1d48
- style: joint limits test independent of the configured fr3 limits
  juelg
  committed
  367faa6
- ci: refactor eigen clone in tarball download
  juelg
  committed
  70adb12