Release v3.1.0

CHANGELOG.md

@@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+## [3.1.0] - 2024-10-28
+
 ### Added
 
 - Example: Upkie rolling without slipping on a horizontal floor
@@ -329,7 +331,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Python package infrastructure
 
-[unreleased]: https://github.com/qpsolvers/qpsolvers/compare/v3.0.0...HEAD
+[unreleased]: https://github.com/qpsolvers/qpsolvers/compare/v3.1.0...HEAD
+[3.1.0]: https://github.com/qpsolvers/qpsolvers/compare/v3.0.0...v3.1.0
 [3.0.0]: https://github.com/qpsolvers/qpsolvers/compare/v2.1.0...v3.0.0
 [2.1.0]: https://github.com/qpsolvers/qpsolvers/compare/v2.0.0...v2.1.0
 [2.0.0]: https://github.com/qpsolvers/qpsolvers/compare/v1.1.0...v2.0.0

CITATION.cff

@@ -1,8 +1,8 @@
 cff-version: 1.2.0
 message: "If you find this code helpful, please cite it as below."
 title: "Pink: Python inverse kinematics based on Pinocchio"
-version: 3.0.0
-date-released: 2024-07-29
+version: 3.1.0
+date-released: 2024-10-28
 url: "https://github.com/stephane-caron/pink"
 license: "Apache-2.0"
 authors:

README.md

@@ -123,21 +123,25 @@ If task targets are continuously updated, there will be no stationary solution t
 
 ## Examples
 
-Basic examples to get started:
+Illustrated examples showcase how Pink performs on various robot morphologies:
 
-* [Double pendulum](https://github.com/stephane-caron/pink/blob/main/examples/double_pendulum.py)
-* [Loading a custom URDF](https://github.com/stephane-caron/pink/blob/main/examples/load_custom_urdf.py)
-* [Visualization in MeshCat](https://github.com/stephane-caron/pink/blob/main/examples/visualize_in_meshcat.py)
-* [Visualization in yourdfpy](https://github.com/stephane-caron/pink/blob/main/examples/visualize_in_yourdfpy.py)
+- Arm: [UR5](https://github.com/stephane-caron/pink/tree/main/examples#arm-ur5) and [UR5 with end-effector limits](https://github.com/stephane-caron/pink/tree/main/examples/barriers#arm-ur5)
+- Dual arms: [Flying dual-arm UR3](https://github.com/stephane-caron/pink/tree/main/examples#flying-dual-arm-ur3)
+- Dual arms: [Yumi with spherical self-collision avoidance](https://github.com/stephane-caron/pink/tree/main/examples/barriers#yumi-end-effector-self-collision-avoidance)
+- Dual arms: [Iiwa with whole-body self-collision avoidance](https://github.com/stephane-caron/pink/tree/main/examples/barriers#iiwa-whole-body-collision-avoidance)
+- Humanoid: [Draco 3](https://github.com/stephane-caron/pink/tree/main/examples#humanoid-draco-3)
+- Mobile base: [Stretch R1](https://github.com/stephane-caron/pink/tree/main/examples#mobile-stretch)
+- Quadruped: [Go2 squatting with floating-base limits](https://github.com/stephane-caron/pink/tree/main/examples/barriers#go2-squat)
+- Wheeled biped: [Upkie rolling without slipping](https://github.com/stephane-caron/pink/tree/main/examples#wheeled-biped-upkie)
 
-Pink works with all kinds of robot morphologies:
+There are also more basic examples to get started:
 
-* Arms: [Kinova Gen2](https://github.com/stephane-caron/pink/blob/main/examples/arm_kinova_gen2.py), [UR3](https://github.com/stephane-caron/pink/blob/main/examples/arm_ur3.py)
-* Humanoids: [JVRC-1](https://github.com/stephane-caron/pink/blob/main/examples/humanoid_jvrc.py), [SigmaBan](https://github.com/stephane-caron/pink/blob/main/examples/humanoid_sigmaban.py)
-* Mobile base: [Omnidirectional robot](https://github.com/stephane-caron/pink/blob/main/examples/mobile_omni_wheeled_robot.py), [Stretch R1](https://github.com/stephane-caron/pink/blob/main/examples/mobile_stretch.py)
-* Wheeled biped: [Upkie](https://github.com/stephane-caron/pink/blob/main/examples/wheeled_biped_upkie.py)
+- [Double pendulum](https://github.com/stephane-caron/pink/blob/main/examples/double_pendulum.py)
+- [Loading a custom URDF](https://github.com/stephane-caron/pink/blob/main/examples/load_custom_urdf.py)
+- [Visualization in MeshCat](https://github.com/stephane-caron/pink/blob/main/examples/visualize_in_meshcat.py)
+- [Visualization in yourdfpy](https://github.com/stephane-caron/pink/blob/main/examples/visualize_in_yourdfpy.py)
 
-Check out the examples directory for more code.
+Check out the [examples](https://github.com/stephane-caron/pink/tree/main/examples) directory for more.
 
 ## Frequently Asked Questions
 
@@ -163,7 +167,7 @@ If you use Pink in your scientific works, please cite it *e.g.* as follows:
   author = {Caron, Stéphane and De Mont-Marin, Yann and Budhiraja, Rohan and Bang, Seung Hyeon and Domrachev, Ivan and Nedelchev, Simeon},
   license = {Apache-2.0},
   url = {https://github.com/stephane-caron/pink},
-  version = {3.0.0},
+  version = {3.1.0},
   year = {2024}
 }
 ```

examples/README.md

@@ -1,9 +1,14 @@
 # Examples
 
+The following examples include *tasks* and *limits*:
+
 - [Arm: UR5](#arm-ur5)
 - [Flying dual-arm UR3](#flying-dual-arm-ur3)
 - [Humanoid: Draco 3](#humanoid-draco-3)
 - [Mobile: Stretch](#mobile-stretch)
+- [Wheeled biped: Upkie](#wheeled-biped-upkie)
+
+Check out the [barriers](barriers/) sub-directory for more examples including *control barrier functions*.
 
 ## Arm: UR5
 
@@ -55,3 +60,17 @@ https://github.com/stephane-caron/pink/assets/1189580/711c4b92-6234-41bd-945b-e6
 |------|---------------|------------------|
 | Mobile base | $0.1$ | 1 |
 | Fingertip | 1 | $10^{-4}$ |
+
+## Wheeled biped: Upkie
+
+An Upkie wheeled biped rolling without slipping:
+
+https://github.com/user-attachments/assets/18ae0b68-21a2-44ec-af48-1d8ab4a7e658
+
+| Task | Position cost | Orientation cost |
+|------|---------------|------------------|
+| Floating base | $1$ | $1$ |
+| Left wheel rolling | $10$ | - |
+| Right wheel rolling | $10$ | - |
+| Left wheel position | $1$ | $0$ |
+| Right wheel position | $1$ | $0$ |

examples/barriers/README.md

@@ -1,8 +1,7 @@
-Here we will have the examples of using barriers, please go over [notes](https://simeon-ned.com/blog/2024/cbf/) for more info. 
+Here we will have the examples of using barriers, please go over [this note](https://simeon-ned.com/blog/2024/cbf/) for more info.
 
 # Barrier Examples
 
-
 - [Arm: UR5](#arm-ur5): with joints and end effector limits
 - [Quadruped: Go2](#go2-squat): Go 2 squatting with floating base position limits
 - [Dual Arms: Yumi](#yumi-end-effector-self-collision-avoidance): self-collision avoidance with spheres
@@ -12,10 +11,8 @@ Here we will have the examples of using barriers, please go over [notes](https:/
 
 A UR5 arm tracking a moving target while stopping in front of virtual wall:
 
-
 https://github.com/domrachev03/pink/assets/28687492/f30ba7a1-98a3-44cb-ab52-23f99e42714c
 
-
 | Task | Cost |
 |------|------|
 | End-effector | (50,1) |
@@ -29,10 +26,8 @@ https://github.com/domrachev03/pink/assets/28687492/f30ba7a1-98a3-44cb-ab52-23f9
 
 Go2 quadruped squating with base position is constrained by z and y coordinates:
 
-
 https://github.com/domrachev03/pink/assets/28687492/78281f44-3676-4d4d-9619-768b951a15a2
 
-
 | Task | Cost |
 |------|------|
 | Base | (50, 1) |
@@ -43,16 +38,12 @@ https://github.com/domrachev03/pink/assets/28687492/78281f44-3676-4d4d-9619-768b
 |------|------|
 | End-effector | $10^{2}$ |
 
-
 ## Yumi end-effector self-collision avoidance
-Yumi two-armed manimpulator with constraint on minimal distance between frames, defined by end-effectors
-
 
+Yumi two-armed manimpulator with constraint on minimal distance between frames, defined by end-effectors
 
 https://github.com/domrachev03/pink/assets/28687492/f8c4bc8d-63e3-4bf7-a34f-e7ede43c0438
 
-
-
 | Task | Cost |
 |------|------|
 | End-effector | (50,10) |
@@ -63,13 +54,11 @@ https://github.com/domrachev03/pink/assets/28687492/f8c4bc8d-63e3-4bf7-a34f-e7ed
 | Body Spherical | $10^{2}$ |
 
 ## Iiwa whole-body collision avoidance
-Two iiwas with custom collision geometry with some barely feasible tasks for end-effectors.
 
+Two iiwas with custom collision geometry with some barely feasible tasks for end-effectors.
 
 https://github.com/domrachev03/pink/assets/28687492/d64163b6-399f-4bbf-ac50-1135fa69c2da
 
-
-
 | Task | Cost |
 |------|------|
 | End-effector | (50,10) |
@@ -78,4 +67,3 @@ https://github.com/domrachev03/pink/assets/28687492/d64163b6-399f-4bbf-ac50-1135
 | Barrier | Gain |
 |------|------|
 | Self Collision Avoidance | $10$ |
-

examples/upkie_rolling.py

@@ -66,8 +66,10 @@
         right_wheel_rolling,
     ]
 
+    init_x = -2.0  # in [m]
     q_init = robot.q0.copy()
-    q_init[2] = 0.56
+    q_init[0] = init_x  # world x-axis
+    q_init[2] = 0.56  # world z-axis
     configuration = pink.Configuration(robot.model, robot.data, q_init)
     base_task.set_target_from_configuration(configuration)
     left_wheel_position.set_target_from_configuration(configuration)
@@ -95,7 +97,7 @@
 
     while True:
         # Update base task target
-        base_x = 0.1 * t
+        base_x = 0.1 * t + init_x
         base_target.translation[0] = base_x
         left_wheel_target.translation[0] = base_x + 0.1 * np.sin(t)
         right_wheel_target.translation[0] = base_x - 0.1 * np.sin(t)

pink/__init__.py

@@ -18,7 +18,7 @@
 )
 from .utils import custom_configuration_vector
 
-__version__ = "3.0.0"
+__version__ = "3.1.0"
 
 __all__ = [
     "Configuration",