Pink

Python inverse kinematics for articulated robot models, based on Pinocchio.

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Inverse kinematics in Pink is defined by weighted tasks and limits. The library adds a configuration type to Pinocchio, a configuration being a robot model and data to which forward kinematics have been applied. Given a configuration, tasks and a time step, pink.solve_ik.solve_ik() computes joint velocities that steer the model towards fulfilling all tasks at best.