This is the first major release of Pink, Python inverse kinematics for articulated robot models, based on Pinocchio. The main update since v0.11.0 is the definition of a proper linear holonomic task on tangent spaces, with accompanying documentation, by @ymontmarin. Thanks! 👍

API-wise, Levenberg-Marquardt damping is now defined in the base Task class and can therefore be set in any task. This release drops support for Python 3.7, and brings a seasonal batch of new examples and bug fixes.

Added

• Example: UR5 arm
• Example: flying dual-arm with UR3
• General linear holonomic task

Changed

• Cost vector is now defined for all tasks
• Drop support for Python 3.7
• Levenberg-Marquardt damping is now defined for all tasks
• Update joint-coupling task to derive from general linear holonomic task

Fixed

• Example: Draco 3 numerical stability