[isaacsim.robot_motion.pink.examples] PINK Examples

Version: 0.1.1

Overview

The isaacsim.robot_motion.pink.examples extension provides interactive demonstrations of the PINK inverse kinematics library within Isaac Sim. Each example registers a menu item under “PINK Examples” and opens a UI window for loading scenes, running scenarios, and observing IK-controlled robot behavior.

Examples

IK Controller

Demonstrates reactive end-effector tracking using PinkIKController with a Franka Panda robot following a movable target cube. This is the PINK analog to the cuMotion RMPflow example.

Multi-Task

Demonstrates simultaneous weighted tasks: a FrameTask for end-effector tracking, a PostureTask for joint regularization toward a preferred pose, and a DampingTask for velocity smoothing. Shows how task weights affect the trade-off between tracking accuracy and motion smoothness.

Enable Extension

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot_motion.pink.examples

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot_motion.pink.examples" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot_motion.pink.examples. Then, toggle the enable control button if it is not already active.