Inverse Kinematics for Articulated Robot Models (pink)

Pink (pin-pink) is a Python library for inverse kinematics (IK) of articulated robot models, built upon the Pinocchio robotics framework. It provides a flexible task-based IK solver, allowing users to define various objectives (e.g., end-effector tracking, joint limits, velocity control) that are resolved using a quadratic program (QP). The current version is 4.1.0, and it maintains an active development cycle with several releases per year.