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.buildinfo

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+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 86c98214d0ed2b2873a705df2ef98ae0
+tags: 645f666f9bcd5a90fca523b33c5a78b7

_sources/barriers.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/barriers.rst
+
+.. _Barriers:
+
+********
+Barriers
+********
+
+Definition
+==========
+
+.. automodule:: pink.barriers.barrier
+    :members:
+
+Position barrier
+================
+
+.. automodule:: pink.barriers.position_barrier
+    :members:
+
+Body Spherical barrier
+======================
+
+.. automodule:: pink.barriers.body_spherical_barrier
+    :members:
+
+Whole Body Collision Avoidance
+==============================
+
+.. automodule:: pink.barriers.self_collision_barrier
+    :members:

_sources/developer-notes.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/developer-notes.rst
+
+***************
+Developer notes
+***************
+
+This section documents internal functions and other notes shared between contributors to this project.
+
+Design guidelines
+=================
+
+* Pink is designed for clarity before performance
+* Leaky abstractions are our enemy
+* WIP
+
+Exceptions
+==========
+
+.. automodule:: pink.exceptions
+    :members:

_sources/index.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/index.rst
+
+.. title:: Table of Contents
+
+####
+Pink
+####
+
+**P**\ ython **in**\ verse **k**\ inematics for articulated robot models, based on `Pinocchio <https://github.com/stack-of-tasks/pinocchio>`_.
+
+.. image:: https://user-images.githubusercontent.com/1189580/192318997-ed7574c3-8238-451d-9548-a769d46ec03b.png
+   :alt: Banner for Pink
+
+Inverse kinematics in Pink is defined by weighted :ref:`tasks <Tasks>` and :ref:`limits <Limits>`. The library adds a :ref:`configuration <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, :func:`pink.solve_ik.solve_ik` computes joint velocities that steer the model towards fulfilling all tasks at best.
+
+.. toctree::
+    :maxdepth: 1
+
+    installation.rst
+    introduction.rst
+    tasks.rst
+    limits.rst
+    barriers.rst
+    inverse-kinematics.rst
+    developer-notes.rst
+    references.rst
+

_sources/installation.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/installation.rst
+
+************
+Installation
+************
+
+From Conda
+==========
+
+For best performance we recommended installing Pink from Conda:
+
+.. code:: bash
+
+    conda install -c conda-forge pink
+
+From PyPI
+=========
+
+Installation from the Python Package Index should work via:
+
+.. code:: bash
+
+    pip install pin-pink
+
+From source
+===========
+
+If installation from PyPI doesn't work, you can manually install `eigenpy <https://github.com/stack-of-tasks/eigenpy>`__ (required by Pinocchio) and `Pinocchio <https://github.com/stack-of-tasks/pinocchio>`__ from source. Then install Pink by:
+
+.. code:: bash
+
+    pip install --no-deps pin-pink
+
+Alternatively, copy or add the ``pink/`` module directory somewhere in your ``PYTHONPATH``.

_sources/introduction.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/introduction.rst
+
+************
+Introduction
+************
+
+Inverse kinematics (IK) is the problem of computing *motions* (in Pink: velocities) that achieve a given set of *tasks*, such as putting a foot on a surface, moving the center of mass to a target location, etc.
+
+This documentation assumes you are already familiar with task-based inverse kinematics. You can check out for instance this `post on inverse kinematics <https://scaron.info/robot-locomotion/inverse-kinematics.html>`__ for a general introduction.
+
+Notations
+=========
+
+In Pink, we adopt the subscript right-to-left convention for transforms, and superscript notation to indicate the frame of a motion or force vector:
+
+.. list-table::
+    :class: cheatsheet
+    :widths: 70 30
+
+    * - Quantity
+      - Notation
+    * - Affine transform from frame :math:`A` to frame :math:`B`
+      - :math:`T_{BA}`
+    * - Body angular velocity of frame :math:`A` in frame :math:`B`
+      - :math:`{}^A \omega_{BA}`
+    * - Position of frame :math:`B` in frame :math:`A`
+      - :math:`{}^A p_B`
+    * - Rotation matrix from frame :math:`A` to frame :math:`B`
+      - :math:`R_{BA}`
+    * - Spatial angular velocity of frame :math:`A` in frame :math:`B`
+      - :math:`{}^B \omega_{BA}`
+    * - World frame (inertial)
+      - :math:`W`
+
+With these notations frame transforms can be read left to right, for example:
+
+.. raw:: latex html
+
+    \begin{align}
+    T_{CA} & = T_{CB} T_{BA} &
+    {}^{B} \omega & = R_{BA} {}^{A} \omega &
+    {}^B p_C & = R_{BA} {}^A p_C + {}^B p_A
+    \end{align}
+
+See also this `spatial algebra cheat sheet
+<https://scaron.info/robot-locomotion/spatial-vector-algebra-cheat-sheet.html>`_.
+
+.. _Configuration:
+
+Configuration
+=============
+
+.. automodule:: pink.configuration
+    :members:

_sources/inverse-kinematics.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/inverse-kinematics.rst
+
+******************
+Inverse kinematics
+******************
+
+The main function solve inverse kinematics is :func:`.solve_ik`. Here is for
+instance how it appears in a closed-loop inverse kinematics:
+
+.. code:: python
+
+    rate = RateLimiter(frequency=100.0)
+    while True:
+        # [...] <- update task targets here
+        velocity = solve_ik(configuration, tasks, rate.dt, solver=solver)
+        configuration.integrate_inplace(velocity, rate.dt)
+        rate.sleep()
+
+See the ``examples/`` folder in the repository for complete use cases.
+
+.. autofunction:: pink.solve_ik.solve_ik
+
+It is also possible to ask Pink to only build the underlying inverse kinematics
+problem via the :func:`.build_ik` function:
+
+.. autofunction:: pink.solve_ik.build_ik

_sources/limits.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/limits.rst
+
+.. _Limits:
+
+******
+Limits
+******
+
+Definition
+==========
+
+.. automodule:: pink.limits.limit
+    :members:
+
+Configuration limit
+===================
+
+.. automodule:: pink.limits.configuration_limit
+   :members:
+
+Velocity limit
+==============
+
+.. automodule:: pink.limits.velocity_limit
+   :members:
+
+Acceleration limit
+==================
+
+.. automodule:: pink.limits.acceleration_limit
+   :members:

_sources/references.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/references.rst
+
+**********
+References
+**********
+
+.. [FrameTaskJacobian] `Jacobian of a kinematic task and derivatives on manifolds <https://scaron.info/robotics/jacobian-of-a-kinematic-task-and-derivatives-on-manifolds.html>`_. S. Caron. 2023.
+
+.. [MLT] `A micro Lie theory for state estimation in robotics <https://arxiv.org/abs/1812.01537>`_. J. Solà, J. Deray, D. Atchuthan. 2018.
+
+.. [Sugihara2011] *Solvability-Unconcerned Inverse Kinematics by the Levenberg-Marquardt Method*. T. Sugihara. IEEE transactions on robotics, 2011, vol. 27, no 5, pp. 984-991.
+
+.. [Flacco2015] *Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space*. F. Flacco, A. De Luca and O. Khatib. IEEE Transactions on Robotics, 2015, vol. 31, no 3, pp. 637-654.
+
+.. [DelPrete2018] *Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators*. A. Del Prete. IEEE Robotics and Automation Letters, 2018, vol. 3, no 1, pp. 281-288.

_sources/tasks.rst.txt

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+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/tasks.rst
+
+.. _Tasks:
+
+*****
+Tasks
+*****
+
+Definition
+==========
+
+.. automodule:: pink.tasks.task
+    :members:
+
+Frame task
+==========
+
+.. automodule:: pink.tasks.frame_task
+    :members:
+
+Relative frame task
+===================
+
+.. automodule:: pink.tasks.relative_frame_task
+    :members:
+
+Joint coupling task
+===================
+
+.. automodule:: pink.tasks.joint_coupling_task
+    :members:
+
+Linear holonomic task
+=====================
+
+.. automodule:: pink.tasks.linear_holonomic_task
+    :members:
+
+Posture task
+============
+
+.. automodule:: pink.tasks.posture_task
+    :members: