Pink motions
A library of robot motions performed by inverse kinematics and model predictive control:
Usage
The recommended way to use pink motions is with pixi, which handles all dependencies automatically:
git clone https://github.com/stephane-caron/pink_motions.git
cd pink_motions
pixi run scenario --robot ur5 --qpsolver quadprog
This will open a MeshCat tab in your web browser playing the scenario for its prescribed duration.
This task is just an alias to examples/run_scenario.py, which simply calls:
pink_motions.play_scenario(
name="jaxon",
dt=0.005, # seconds
qpsolver="proxqp",
)
See also
Pink motions are specified using a combination of several open-source libraries:
- robot_descriptions.py to load robot descriptions
- Pinocchio for forward kinematics functions: Jacobians, Jlog6, ...
- MeshCat for (optional) visualization
- Pink for differential inverse kinematics
- qpmpc for linear model predictive control, used in biped and humanoid scenarios
The library is also related to the following projects:
- ik_qpbenchmark: Test set for QP solvers with differential IK problems generated from pink motions.
- LoIK: Constrained differential inverse kinematics solver that was evaluated on pink motions.
1 maintainer
Metadata
1 maintainer
Release files for pink_motions 0.3.0
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Source distribution (sdist)
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| pink_motions-0.3.0.tar.gz | 276.3 kB | Details |
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| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| pink_motions-0.3.0-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 302.0 kB
Release files / pink_motions-0.3.0.tar.gz
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| Tags | Python 3 |
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