pin-pink 0.1.0rc1

Python inverse kinematics for your robot model based on Pinocchio.

Pink

Python inverse kinematics for your robot model based on Pinocchio.

Upcoming changes

Pink's API is not stable. Expect the following upcoming changes:

• WIP: Add configuration as a parameter to solve_ik
• Import velocity limit function
• Implement body task
• Document frame and transform notations
• Formalize exceptions and configuration assertions
• Release v0.1: first version with functional body task and unit tests
• Reformulate task gains as time constants

Open questions:

• Expect kinematics to be already up-to-date in robot data?

Installation

First, install Pinocchio, for instance by pip install pin.

Then install Pink by:

pip install pin-pink

Usage

Under construction...

Example

Under construction...

History

Pink implements the same task-based inverse kinematics as pymanoid, but it is much simpler to install and runs faster thanks to Pinocchio. Its internal math is summarized in this note. If you find yourself needing to read that in order to use the library, it means the API has abstraction leakage, please open an issue :-)