Enhances Pink IK controller with null-space posture control and improv…#3149

Merged

kellyguo11 merged 13 commits into

isaac-sim:mainfrom

michaellin6:mlin/teleop-ik-improv

Aug 27, 2025

Commits on Aug 25, 2025

Enhance Pink IK controller with null-space posture control and improved testing
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Adding mimic envs for Waist Enabled Environment
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Updating documentation
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Moving pink ik controller components into sub-directory, updating tests and cleaning up
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Update documentation
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Fixed bug with NullSpacePostureTask. Simplified robot articulation
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optimized joint re-ordering in pink with Numpy array indexing. Renamed
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Changing null space task to use simultaneous formulation (prioritizing all frame tasks equally). Also, adding unit test for null space task.
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fixing linting. Also, reducing pink unit test accuracy requirement to 1
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