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feat: joint position from ik #366

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feat: joint position from ik #366

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@ypang-neuraco ypang-neuraco commented Feb 6, 2026 •
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Features

  • Option in importer to obtain joint angles from TCP poses using inverse kinematics
  • Initialise IK using URDF provided (optionally provide init IK config in yaml)
  • Smooth output joint positions by using previous IK solution to initialise next IK search
  • Retry initialisation with neutral joint positions if IK fails

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@ypang-neuraco ypang-neuraco self-assigned this Feb 6, 2026
@ypang-neuraco ypang-neuraco added the version:minor non-breaking feature updates, new functions or endpoints label Feb 6, 2026
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github-actions bot commented Feb 6, 2026

Consider updating changelogs/pending-changelog.md with a summary of this change for the release notes. This is optional and non-blocking.

@ypang-neuraco ypang-neuraco force-pushed the feat/joint-position-from-ik branch 2 times, most recently from b6a1bbb to 9aff7dd Compare February 6, 2026 18:02
@stepjam stepjam changed the base branch from main to develop February 7, 2026 13:50
@stepjam stepjam deleted the branch develop February 7, 2026 14:02
@stepjam stepjam closed this Feb 7, 2026
@stepjam stepjam reopened this Feb 7, 2026
@ypang-neuraco ypang-neuraco force-pushed the feat/joint-position-from-ik branch 3 times, most recently from fa02f1e to 91025e6 Compare February 9, 2026 11:50
@ypang-neuraco ypang-neuraco marked this pull request as ready for review February 9, 2026 12:03
@ypang-neuraco ypang-neuraco force-pushed the feat/joint-position-from-ik branch from 91025e6 to 3e15ecf Compare February 9, 2026 12:09
mark-neuracore
mark-neuracore reviewed Feb 9, 2026
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@ypang-neuraco ypang-neuraco force-pushed the feat/joint-position-from-ik branch 2 times, most recently from 3d03fdd to 2b39e5e Compare February 12, 2026 12:02
mark-neuracore
mark-neuracore reviewed Feb 13, 2026
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LGTM w/c

@ypang-neuraco ypang-neuraco force-pushed the feat/joint-position-from-ik branch from 2b39e5e to 3828950 Compare February 13, 2026 11:54
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github-actions bot commented Feb 13, 2026 •
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✅ PR source branch is valid

  • Source: feat/joint-position-from-ik
  • Target: develop

@ypang-neuraco ypang-neuraco force-pushed the feat/joint-position-from-ik branch from 3828950 to c79e8fc Compare February 13, 2026 12:08
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