These are some simple demos of my various experiments doing IK via constrained optimization. I noticed there aren't a lot of resources on IK for systems closed loops/holonomic constraints out there, so I hope these examples can serve as inspiration for others.
For ease of prototyping I'm using the excellent HIPS autograd library to automatically compute Jacobians, but note that for any real-world use of these algorithms the Jacobians can (and should) be computed analytically.
- implement second order methods (e.g Newton's method, SQP)
- implement a "hybrid" method that can correct drift in the constraint null space method (e.g. by optimizing a lagrangian as a subroutine if the error gets too large)