├── .github └── workflows │ ├── changelog.yml │ ├── ci.yml │ └── docs.yml ├── .gitignore ├── CHANGELOG.md ├── CITATION.cff ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── doc ├── barriers.rst ├── conf.py ├── css │ └── custom.css ├── developer-notes.rst ├── images │ ├── apple-touch-icon-180x180.png │ ├── favicon-16x16.png │ └── favicon-32x32.png ├── index.rst ├── installation.rst ├── introduction.rst ├── inverse-kinematics.rst ├── limits.rst ├── references.rst └── tasks.rst ├── examples ├── README.md ├── arm_kinova_gen2.py ├── arm_ur3.py ├── arm_ur3_sparse_solver.py ├── arm_ur3_velocity_smoothing.py ├── arm_ur5.py ├── arm_z1_joint_velocity_tracking.py ├── barriers │ ├── README.md │ ├── arm_ur5.py │ ├── go2_squat.py │ ├── iiwa14_spheres_collision.srdf │ ├── kukas_self_collision.py │ ├── meshcat_shapes.py │ └── yumi_self_collision.py ├── double_pendulum.py ├── flying_dual_arm_ur3.py ├── humanoid_draco3.py ├── humanoid_g1_com.py ├── humanoid_jvrc.py ├── humanoid_sigmaban.py ├── inverse_kinematics_piper_viz.py ├── inverse_kinematics_ur10.py ├── load_custom_urdf.py ├── meshcat_shapes.py ├── mobile_omni_wheeled_robot.py ├── mobile_stretch.py ├── one_dof_configuration_limit.py ├── robots │ ├── double_pendulum.urdf │ ├── omnidirectional_wheeled_robot.urdf │ └── simple_pendulum.urdf ├── stretch_relative_target.py ├── stretch_world_target.py ├── upkie_crouching.py ├── upkie_rolling.py ├── visualize_in_meshcat.py └── visualize_in_yourdfpy.py ├── pink ├── __init__.py ├── barriers │ ├── __init__.py │ ├── barrier.py │ ├── body_spherical_barrier.py │ ├── position_barrier.py │ └── self_collision_barrier.py ├── configuration.py ├── exceptions.py ├── limits │ ├── __init__.py │ ├── acceleration_limit.py │ ├── configuration_limit.py │ ├── limit.py │ └── velocity_limit.py ├── solve_ik.py ├── tasks │ ├── __init__.py │ ├── com_task.py │ ├── damping_task.py │ ├── frame_task.py │ ├── joint_coupling_task.py │ ├── joint_velocity_task.py │ ├── linear_holonomic_task.py │ ├── low_acceleration_task.py │ ├── omniwheel_task.py │ ├── posture_task.py │ ├── relative_frame_task.py │ ├── rolling_task.py │ └── task.py ├── utils.py └── visualization.py ├── pixi.lock ├── pyproject.toml ├── tests ├── __init__.py ├── iiwa_exclude_pairs.srdf ├── test_acceleration_limit.py ├── test_barrier.py ├── test_body_spherical_barrier.py ├── test_com_task.py ├── test_configuration.py ├── test_configuration_limit.py ├── test_damping_task.py ├── test_frame_task.py ├── test_jacobians.py ├── test_joint_coupling_task.py ├── test_joint_velocity_task.py ├── test_limits.py ├── test_linear_holonomic_task.py ├── test_low_acceleration_task.py ├── test_omniwheel_task.py ├── test_position_barrier.py ├── test_posture_task.py ├── test_relative_frame_task.py ├── test_rolling_task.py ├── test_self_collision_barrier.py ├── test_solve_ik.py ├── test_utils.py └── test_velocity_limit.py └── uv.lock /.github/workflows/changelog.yml: 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