Python inverse kinematics for your robot model based on Pinocchio.
Project description
Pink
Installation | Documentation | Usage | Example
Python inverse kinematics for your robot model based on Pinocchio.
Upcoming changes
Pink's API is not stable. Expect the following upcoming changes:
- WIP: Use
ConfiguredRobottype withsolve_ik - Formalize exceptions and configuration assertions
- Add body task
- v0.1: First version with functional body task and unit tests
- v0.2: Add posture task
- v0.3: Add joint angle limits
- v0.4: 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 :-)
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