Jink.jl

November 13, 2022 ยท View on GitHub

Julia package for differential multi-task inverse kinematics

Features

  • This package solves multi-task inverse kinematics by composing the multiple motion tasks as a single Quadratic Program and solving it using OSQP via the JuMP.jl mathematical programming interface.

  • Jink.jl is designed to have a general API that allows you to easily adapt it to your robot of choice. All you have to do is to create a Julia sub-module for your robot that exports all desired kinematics as functions.As examples, this package provides sub-modules for the PickleRick planar humanoid robot and the Digit robot.

Installation

  1. Open your Julia REPL by typing julia in your terminal.
  2. Press ] on your keyboard to enter the package manager
  3. Enter command add https://github.com/adubredu/MeshCatMechanisms.jl and press Enter on your keyboard to install the MeshCatMechanisms dependency
  4. Enter command add https://github.com/adubredu/RigidBodyDynamics.jl and press Enter on your keyboard to install the RigidBodyDynamics dependency
  5. Enter command add https://github.com/adubredu/DigitVisualizer.jl and press Enter on your keyboard to install the DigitVisualizer dependency.
  6. Enter command add https://github.com/adubredu/Jink.jl and press Enter on your keyboard to install this package.
  7. Press the Backspace key on your keyboard to return to the REPL

Usage

See the examples folder for usage examples.

Acknowledgement

This package was inspired by Stephane Caron's pink python package