deploy: 257ca2b

.buildinfo

@@ -0,0 +1,4 @@
+# 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: 41a5aef0a464b7cf34bd83fbeb8e9db4
+tags: 645f666f9bcd5a90fca523b33c5a78b7

_sources/developer-notes.rst.txt

@@ -0,0 +1,20 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/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
+
+Internal functions
+==================
+
+.. automodule:: pink.tasks.utils
+    :members:

_sources/index.rst.txt

@@ -0,0 +1,29 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/index.rst
+
+.. title:: Table of Contents
+
+####
+Pink
+####
+
+.. image:: images/pink-round-corners-140x140.png
+   :height: 140px
+   :alt: alternate text
+   :align: right
+
+**P**\ ython **in**\ verse **k**\ inematics for articulated robot models, based on `Pinocchio <https://github.com/stack-of-tasks/pinocchio>`_.
+
+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
+    inverse-kinematics.rst
+    developer-notes.rst
+    references.rst
+
+You can also download this documentation as a `PDF document <pink.pdf>`_.

_sources/installation.rst.txt

@@ -0,0 +1,30 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/installation.rst
+
+************
+Installation
+************
+
+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, for instance on Raspberry Pi, install the following dependencies from source:
+
+- `eigenpy <https://github.com/stack-of-tasks/eigenpy>`__ (required by Pinocchio)
+- `pinocchio <https://github.com/stack-of-tasks/pinocchio>`__
+
+Then install Pink by:
+
+.. code:: bash
+
+    pip install --no-deps pin-pink
+
+Or by copying its source directory somewhere in your ``PYTHONPATH``.

_sources/introduction.rst.txt

@@ -0,0 +1,56 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/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 `note 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}`
+    * - Plücker transform from frame :math:`A` to frame :math:`B`
+      - :math:`X_{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}
+    X_{CA} & = X_{CB} X_{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

@@ -0,0 +1,26 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/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

@@ -0,0 +1,22 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/limits.rst
+
+.. _Limits:
+
+******
+Limits
+******
+
+.. automodule:: pink.limits
+    :members:
+
+Configuration limits
+====================
+
+.. automodule:: pink.limits.configuration_limit
+   :members:
+
+Velocity limits
+===============
+
+.. automodule:: pink.limits.velocity_limit
+   :members:

_sources/references.rst.txt

@@ -0,0 +1,11 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/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, p. 984-991.

_sources/tasks.rst.txt

@@ -0,0 +1,37 @@
+:github_url: https://github.com/stephane-caron/pink/tree/main/doc/src/tasks.rst
+
+.. _Tasks:
+
+*****
+Tasks
+*****
+
+Base task
+=========
+
+.. automodule:: pink.tasks.task
+    :members:
+
+Body task
+=========
+
+.. automodule:: pink.tasks.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:

_static/_sphinx_javascript_frameworks_compat.js

@@ -0,0 +1,123 @@
+/* Compatability shim for jQuery and underscores.js.
+ *
+ * Copyright Sphinx contributors
+ * Released under the two clause BSD licence
+ */
+
+/**
+ * small helper function to urldecode strings
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/decodeURIComponent#Decoding_query_parameters_from_a_URL
+ */
+jQuery.urldecode = function(x) {
+    if (!x) {
+        return x
+    }
+    return decodeURIComponent(x.replace(/\+/g, ' '));
+};
+
+/**
+ * small helper function to urlencode strings
+ */
+jQuery.urlencode = encodeURIComponent;
+
+/**
+ * This function returns the parsed url parameters of the
+ * current request. Multiple values per key are supported,
+ * it will always return arrays of strings for the value parts.
+ */
+jQuery.getQueryParameters = function(s) {
+    if (typeof s === 'undefined')
+        s = document.location.search;
+    var parts = s.substr(s.indexOf('?') + 1).split('&');
+    var result = {};
+    for (var i = 0; i < parts.length; i++) {
+        var tmp = parts[i].split('=', 2);
+        var key = jQuery.urldecode(tmp[0]);
+        var value = jQuery.urldecode(tmp[1]);
+        if (key in result)
+            result[key].push(value);
+        else
+            result[key] = [value];
+    }
+    return result;
+};
+
+/**
+ * highlight a given string on a jquery object by wrapping it in
+ * span elements with the given class name.
+ */
+jQuery.fn.highlightText = function(text, className) {
+    function highlight(node, addItems) {
+        if (node.nodeType === 3) {
+            var val = node.nodeValue;
+            var pos = val.toLowerCase().indexOf(text);
+            if (pos >= 0 &&
+                !jQuery(node.parentNode).hasClass(className) &&
+                !jQuery(node.parentNode).hasClass("nohighlight")) {
+                var span;
+                var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg");
+                if (isInSVG) {
+                    span = document.createElementNS("http://www.w3.org/2000/svg", "tspan");
+                } else {
+                    span = document.createElement("span");
+                    span.className = className;
+                }
+                span.appendChild(document.createTextNode(val.substr(pos, text.length)));
+                node.parentNode.insertBefore(span, node.parentNode.insertBefore(
+                    document.createTextNode(val.substr(pos + text.length)),
+                    node.nextSibling));
+                node.nodeValue = val.substr(0, pos);
+                if (isInSVG) {
+                    var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect");
+                    var bbox = node.parentElement.getBBox();
+                    rect.x.baseVal.value = bbox.x;
+                    rect.y.baseVal.value = bbox.y;
+                    rect.width.baseVal.value = bbox.width;
+                    rect.height.baseVal.value = bbox.height;
+                    rect.setAttribute('class', className);
+                    addItems.push({
+                        "parent": node.parentNode,
+                        "target": rect});
+                }
+            }
+        }
+        else if (!jQuery(node).is("button, select, textarea")) {
+            jQuery.each(node.childNodes, function() {
+                highlight(this, addItems);
+            });
+        }
+    }
+    var addItems = [];
+    var result = this.each(function() {
+        highlight(this, addItems);
+    });
+    for (var i = 0; i < addItems.length; ++i) {
+        jQuery(addItems[i].parent).before(addItems[i].target);
+    }
+    return result;
+};
+
+/*
+ * backward compatibility for jQuery.browser
+ * This will be supported until firefox bug is fixed.
+ */
+if (!jQuery.browser) {
+    jQuery.uaMatch = function(ua) {
+        ua = ua.toLowerCase();
+
+        var match = /(chrome)[ \/]([\w.]+)/.exec(ua) ||
+            /(webkit)[ \/]([\w.]+)/.exec(ua) ||
+            /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) ||
+            /(msie) ([\w.]+)/.exec(ua) ||
+            ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) ||
+            [];
+
+        return {
+            browser: match[ 1 ] || "",
+            version: match[ 2 ] || "0"
+        };
+    };
+    jQuery.browser = {};
+    jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true;
+}