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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[DiffIK] Add support for a quadratic objective on velocity #21487

Closed RussTedrake closed 1 month ago

RussTedrake commented 1 month ago

This is an alternative to constraining that the computed spatial velocity is a scaled version of the desired spatial velocity. It is important for working with e.g. collision-avoidance constraints.

+@EricCousineau-TRI for design review. Assuming we're happy with the formulation as implemented, I will finish adding the tests / python bindings.

This change is Reviewable

RussTedrake commented 1 month ago

Right. I'll close this one out and start fresh (with the updated formulation).