feat: add PyRoKI differentiable IK backend - #484
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Add collision-aware FrameTarget and PointAxisTarget IK with direct COMPAS model conversion, planning-group support, and warm problem caching. Package the pinned optional dependency, exercise it in Python 3.12 CI, add integration coverage and backend examples, and migrate the contributor guide into MkDocs.
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Servoing a Panda robot model with the keyboard and streaming IK configs to Rhino/GH using compas_eve: Screenshare.-.2026-08-27.3_24_05.PM.mp4 |
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A substantially more complex robot model: diff-ik-chase-plane-rfl.mp4 |
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/cc @jf--- |
Woah! Are you also streaming the gradient descent steps before converging, which explains the "motion" between the current conf and the target? Or it's just the IK is taking time to solve and lag behind? Will review after I come back from ROBARCH! |
It's proper velocity chase, not IK lagging behind, IK for the full group (9DOF) is about 12ms on my machine, so a little background thread is constantly recomputing new solutions to approach/converge to the target. All in-process in Rhino 9 because PyRoki needs |
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amazing how external axises and the manipulator work perfectly in tandem -- stellar, congrats @gonzalocasas |
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This is a bit experimental, but so far, seems to work very well.
Added a new backend for differentiable IK using PyRoki
The experimental part comes mostly from the fact that PyRoki hasn't published a proper pypi release yet (hopefully, we'll solve that soon)
What type of change is this?
Checklist
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xin the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.CHANGELOG.mdfile in theUnreleasedsection under the most fitting heading (e.g.Added,Changed,Removed).invoke test).invoke lint).compas_fab.robots.CollisionMesh.