pink_bench 0.2.0

Library of robot motions with inverse kinematics and predictive control.

pink_bench

A library of robot motions performed by inverse kinematics and model predictive control.

Installation

For best compatibility we recommended installing the bench from Conda:

conda install -c conda-forge pink_bench

You can also install it from PyPI:

pip install pink_bench

Usage

To play a scenario from the library, simply call:

pink_bench.play_scenario(
    name="jaxon",
    dt=0.005,  # seconds
    qpsolver="proxqp",
)

This will open a MeshCat tab in your web browser playing the scenario for its prescribed duration. You can also do the same from the command-line:

$ ./examples/run_scenario.py jaxon --dt 0.005 --qpsolver proxqp