Modules
Damped Least Squares (Levenberg-Marquardt) inverse kinematics solver.
Core Damped Least Squares iteration algorithm.
Numerical Jacobian computation for inverse kinematics.
Convenience functions for DLS-based motion.
GenServer implementing continuous position tracking with DLS.
Test robot definitions for IK solver testing.
2-DOF arm with collision geometry for testing collision-aware IK.
Arm with continuous (unlimited rotation) joints.
A chain with only fixed joints - should fail with :no_dofs.
Arm with a prismatic (linear) joint for testing prismatic IK.
6-DOF anthropomorphic arm for testing orientation-constrained IK.
3-DOF arm with vertical reach for testing 3D IK.
Simple 2-DOF planar arm for basic IK testing.