How I build a QP-based inverse kinematics controller for end-effector tracking on a real 6-axis robot
Using Stephane Caron's Python IK library to formulate a QP problem: input is a target end-effector pose, output is joint velocities.
Hello, world
A second post — and a quick tour of what the writing template can render. if I add more text what happens until i get to the second line randomly
Writing with markdown
A short guide to the markdown features wired into this template — cover images, code, math, footnotes, and admonitions.
Writing with MDX
Posts can also be .mdx — same frontmatter, but with imports, JSX, and inline expressions on top of plain markdown.
Notes on the tooling
What's underneath this template — Astro, Pagefind, Giscus, KaTeX — and why each piece is here.
On restraint in design
A short note on the editorial choices behind this template — and why most things are quiet on purpose.
The quick brown fox
A short post showing how typography looks across paragraphs, links, and quotes.