Add ik (inverse kinematic) library into the component list#524
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dmitry1945 wants to merge 6 commits intoespressif:masterfrom
Open
Add ik (inverse kinematic) library into the component list#524dmitry1945 wants to merge 6 commits intoespressif:masterfrom
dmitry1945 wants to merge 6 commits intoespressif:masterfrom
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Pull Request Overview
This PR integrates the IK (inverse kinematics) library as a new ESP-IDF component, setting up its metadata, build integration, and a usage example, and updates CI/workflows accordingly.
- Added SBOM and IDF component manifests, LICENSE, and README for iklib
- Configured CMake to fetch, patch, build, and link the ik submodule via ExternalProject
- Provided a “hello-ik” example and updated Git submodules plus upload/build CI rules
Reviewed Changes
Copilot reviewed 17 out of 17 changed files in this pull request and generated 3 comments.
Show a summary per file
| File | Description |
|---|---|
| iklib/sbom_iklib.yml | SBOM metadata for iklib |
| iklib/patch/ik_patch.patch | Modified target_compile_options flags |
| iklib/README.md | Added component README (needs title/badge corrections) |
| iklib/CMakeLists.txt | Setup ExternalProject build, patch application |
| iklib/examples/hello-ik/main/* | Example app manifest, source, and CMakeLists |
| .gitmodules | Added iklib/ik submodule |
| .github/workflows/upload_component.yml | Included iklib in upload pipeline |
| .idf_build_apps.toml | Enabled example build test for iklib |
Comments suppressed due to low confidence (3)
iklib/README.md:1
- The title references JPEG-Turbo—update it to reflect the IK library (e.g.,
# IK for ESP-IDF).
# Jpeg-turbo for ESP-IDF
iklib/README.md:3
- This badge points to libjpeg-turbo; replace it with the correct badge and URL for iklib.
[](https://components.espressif.com/components/espressif/libjpeg-turbo)
iklib/CMakeLists.txt:99
- The variable
depsis never defined, so no dependencies will be linked. Consider usingCOMPONENT_REQUIRESor definedepsappropriately.
foreach(dep ${deps})
iklib/sbom_iklib.yml
Outdated
| version: 1.1.0 | ||
| cpe: cpe:1.1.0:a:iklib:iklib:{}:*:*:*:*:*:*:* | ||
| supplier: 'Organization: iklib' | ||
| description: IK is a inverse kinematic library |
There was a problem hiding this comment.
Grammar nit: replace "a inverse" with "an inverse" for correct article usage.
Suggested change
| description: IK is a inverse kinematic library | |
| description: IK is an inverse kinematic library |
Comment on lines
+10
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| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | ||
| + -fno-strict-aliasing -ffast-math | ||
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> | ||
| > | ||
| PRIVATE $<$<C_COMPILER_ID:Clang>: | ||
| -W -Wall -Wextra -Werror -Wshadow -Wconversion -Wno-unused-parameter -Wno-conversion -Wno-implicit-fallthrough | ||
| - -pedantic -pedantic-errors -fno-strict-aliasing -ffast-math | ||
| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | ||
| + -fno-strict-aliasing -ffast-math | ||
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> |
There was a problem hiding this comment.
Profiling mode no longer includes -pg, which disables instrumentation; reintroduce -pg inside the generator expression, e.g., $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer>.
Suggested change
| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | |
| + -fno-strict-aliasing -ffast-math | |
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> | |
| > | |
| PRIVATE $<$<C_COMPILER_ID:Clang>: | |
| -W -Wall -Wextra -Werror -Wshadow -Wconversion -Wno-unused-parameter -Wno-conversion -Wno-implicit-fallthrough | |
| - -pedantic -pedantic-errors -fno-strict-aliasing -ffast-math | |
| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | |
| + -fno-strict-aliasing -ffast-math | |
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> | |
| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | |
| + -fno-strict-aliasing -ffast-math | |
| + $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | |
| > | |
| PRIVATE $<$<C_COMPILER_ID:Clang>: | |
| -W -Wall -Wextra -Werror -Wshadow -Wconversion -Wno-unused-parameter -Wno-conversion -Wno-implicit-fallthrough | |
| - -pedantic -pedantic-errors -fno-strict-aliasing -ffast-math | |
| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | |
| + -fno-strict-aliasing -ffast-math | |
| + $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> |
| - -pedantic -pedantic-errors -fno-strict-aliasing -ffast-math | ||
| - $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> | ||
| + -fno-strict-aliasing -ffast-math | ||
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> |
There was a problem hiding this comment.
Same as above for Clang: profiling flags omit -pg. Add it back in the generator expression to enable profiling instrumentation.
Suggested change
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> | |
| + $<$<BOOL:IK_PROFILING>:-pg -fno-omit-frame-pointer> |
suda-morris
reviewed
Jul 3, 2025
iklib/README.md
Outdated
| @@ -0,0 +1,12 @@ | |||
| # Jpeg-turbo for ESP-IDF | |||
suda-morris
reviewed
Jul 3, 2025
suda-morris
reviewed
Jul 3, 2025
| + -fno-strict-aliasing -ffast-math | ||
| + $<$<BOOL:IK_PROFILING>: -fno-omit-frame-pointer> | ||
| > | ||
| ) |
Collaborator
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It seems like this library is not maintained anymore in the upstream? TheComet/ik#22 (comment)
Should we fork it and patch it in our fork? cc @igrr
BTW, this repo also provide a promising IK library: https://github.com/roboticslibrary/rl/blob/master/src/rl/mdl/InverseKinematics.h
suda-morris
reviewed
Jul 7, 2025
| @@ -0,0 +1,12 @@ | |||
| # IK (Inverse Kinematic) library for ESP-IDF | |||
|
|
|||
| [](https://components.espressif.com/components/espressif/libjpeg-turbo) | |||
suda-morris
reviewed
Jul 7, 2025
| #include <stdio.h> | ||
| #include <ik/ik.h> | ||
|
|
||
| void app_main(void); |
Collaborator
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Suggested change
| void app_main(void); |
suda-morris
reviewed
Sep 5, 2025
| # We apply the patch to the ik library to fix the build error. | ||
| find_package(Git REQUIRED) | ||
| execute_process( | ||
| COMMAND ${GIT_EXECUTABLE} -C ${CMAKE_CURRENT_SOURCE_DIR}/ik apply --ignore-whitespace ${CMAKE_CURRENT_SOURCE_DIR}/patch/ik_patch.patch |
Collaborator
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the patch is applied to the git submodule, so it will pollute the workspace during build, right?
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Checklist
urlfield definedChange description
Add an Inverse Kinematic library as a component into the component list.
The component contain simple example.