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https://github.com/simple-robotics/loik

Low-Complexity Inverse Kinematics
https://github.com/simple-robotics/loik

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Low-Complexity Inverse Kinematics

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README 

        
# LoIK



**LoIK** is a simple yet efficient (constrained) differential inverse kinematics solver for robotics 



It is designed to function as an inner solver for various downstream applications, including global inverse kinematics and sampling-based motion planning.



## Features



**LoIK** is a C++ template library, which provides



* a set of efficient solvers for constrained differential inverse kinematics problems

* support for the [pinocchio](https://github.com/stack-of-tasks/pinocchio) rigid-body dynamics library 

* an interface to the [IKBench](https://github.com/Simple-Robotics/IKBench) inverse kinematics benchmark library which can be used to compare different IK solver performances

* Python bindings leveraging [eigenpy](https://github.com/stack-of-tasks/eigenpy) {Next release}



To cite **LoIK** in your publications, software, and research articles.

Please refer to the [Citation section](#citing-loik) for further details.



## Installation



### Build from source



```bash

git clone https://github.com/Simple-Robotics/LoIK --recursive

cd LoIK

mkdir build && cd build 

cmake .. -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=your_install_folder -DCMAKE_CXX_FLAGS="-march=native"

make -jNCPUS

make install

```



#### Dependencies

* [Eigen3](https://eigen.tuxfamily.org) >= 3.4.0

* [Boost](https://www.boost.org) >= 1.84.0

* [Pinocchio](https://github.com/stack-of-tasks/pinocchio)>=3.0.0 | [conda](https://anaconda.org/conda-forge/pinocchio)

* (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.4.0 | [conda](https://anaconda.org/conda-forge/eigenpy) (Python bindings)

* (optional) [example-robot-data](https://github.com/Gepetto/example-robot-data)>=4.1.0 | [conda](https://anaconda.org/conda-forge/example-robot-data) (required for examples and benchmarks)

* a C++17 compliant compiler



#### Notes



* For developers, add the `-D CMAKE_EXPORT_COMPILE_COMMANDS=1` when working with language servers e.g. clangd.

* To check for runtime Eigen memory allocation, add `-D CHECK_RUNTIME_MALLOC=ON`

* By default, building the library will instantiate the templates for the `double` scalar type.

* To build against a Conda environment, activate the environment and run `export CMAKE_PREFIX_PATH=$CONDA_PREFIX` before running CMake and use `$CONDA_PREFIX` as your install folder, i.e. add flag `-D CMAKE_INSTALL_PREFIX=$CONDA_PREFIX`.



### Build/install from source with Pixi



To build **LoIK** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation).



[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that

will install all required dependencies in `.pixi` directory.

It's used by our CI agent so you have the guarantee to get the right dependencies.



Run the following command to install dependencies, configure, build and test the project:



```bash

pixi run test

```



The project will be built in the `build` directory.

You can now run `pixi shell` and build the project with `cmake` and `ninja` manually.



## Benchmarking



We recommend [Flame Graphs](https://github.com/brendangregg/FlameGraph) for performance analysis.

Please refer to this code analysis [tutorial](https://github.com/Simple-Robotics/code-analysis-tools?tab=readme-ov-file#install-1) for installation and usage of flame graph.



## Citing LoIK



To cite **LoIK**, please use the following bibtex entry:



```bibtex

@misc{loikapi,

  author = {Wingo, Bruce and Vaillant, Joris and Sathya, Ajay and Caron, Stéphane and Carpentier, Justin},

  title = {LoIK},

  url = {https://github.com/Simple-Robotics/LoIK}

}

```

Please also consider citing the reference paper for the **LoIK** algorithm:



```bibtex

@inproceedings{wingoLoIK2024,

  title = {{Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective}},

  author = {Wingo, Bruce and Sathya, Ajay and Caron, Stéphane and Hutchinson, Seth and Carpentier, Justin},

  year = {2024},

  booktitle={Robotics: Science and Systems},

  note = {https://inria.hal.science/hal-04607809v1}

}

```



## Contributors



* [Bruce Wingo](https://bwingo47.github.io/) (Inria, Georgia Tech): main developer and manager of the project

* [Ajay Sathya](https://scholar.google.com/citations?user=A00LDswAAAAJ&hl=en) (Inria): mathematics and algorithms developer

* [Joris Vaillant](https://github.com/jorisv) (Inria): core developer

* [Stéphane Caron](https://scaron.info/) (Inria): core developer

* [Seth Hutchinson](https://faculty.cc.gatech.edu/~seth/) (Georgia Tech): project instructor

* [Justin Carpentier](https://jcarpent.github.io/) (Inria): project instructor



## Acknowledgments



The development of **LoIK** is actively supported by the [Willow team](https://www.di.ens.fr/willow/) at [@INRIA](http://www.inria.fr) Paris.