Pink
- Software
- Robot arms and industry
- Library
Pink is a Python library for differential inverse kinematics of articulated robot models, built on Pinocchio. It solves weighted tasks as a quadratic program.
Made by pink-kinematics.
Source on GitHub: github.com/pink-kinematics/pink (opens in a new tab). Facts read at commit 2c33316 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 2c33316 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Defines robot control goals as weighted tasks, such as frame position and orientation, posture, and targets.
- Computes joint velocities that drive the robot toward all tasks at best, respecting configuration and velocity limits.
- Supports floating-base velocity limits that clamp commanded twists for planar or free-flyer bases.
- Includes examples for arms, humanoids, quadrupeds, mobile bases, and wheeled bicycles, plus visualization in MeshCat and yourdfpy.
- Is a local method, so it may converge to a local optimum rather than a global inverse kinematics solution.
Written by Robotheca from the project's README (opens in a new tab) at commit 2c33316.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 13 Sept 2026 on main
- Latest release
- v4.4.0 (9 Sept 2026)
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.