Concepts#
These pages explain how mink-warp is put together — the mental model before you dive into solver backends or API details.
Suggested reading order#
Topic |
Page |
|---|---|
Why this library |
Why mink-warp (and not Newton IK)? — purpose vs Newton IK and vs Mink |
Hard limits / QP |
Constrained IK (hard limits) — box vs general |
Layer stack |
Architecture overview — Configuration → tasks → solver → integrate |
Notation / math |
Notation — frames, errors, stacked \(H, c\) |
Mink compatibility |
Mink API parity — what matches Mink and what differs |
Hands-on |
Quickstart: single-world IK — single-world IK loop |
Scaling out |
Batched IK — |
Demos |
Examples — numbered |
Where to go next#
Need |
Section |
|---|---|
Hard joint / velocity / half-space limits |
|
Solver choice (DLS / LM / L-BFGS) |
|
Fixed-step control loops |
|
Field-level API |
|
Throughput numbers |