Pink

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

Inverse kinematics in Pink is defined by weighted tasks and joint limits. The library adds a configuration type to Pinocchio, a configuration being a robot model and data to which the required forward kinematics functions 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.

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