Robotics Kinematics Library

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pykin

PyPI version MIT License

Python Interface for the robot Kinematics library pykin

This library has been created simply by referring to ikpy.

Features

  • Pure python library
  • Support only URDF file
  • Compute forward, inverse kinematics and jacobian, referred to the Introduction to Humanoid Robotics book.
  • Check robot self-collision and collision between objects
  • Plot robot kinematic chain and mesh

Installation

Requirements

You need a python-fcl package to do object collision checking.

  • For Ubuntu, using apt

    sudo apt install liboctomap-dev

    sudo apt install libfcl-dev

  • For Mac, First, Download the source and build it.

    • octomap

      git clone https://github.com/OctoMap/octomap.git

      $ cd octomap
$ mkdir build
$ cd build
$ cmake ..
$ sudo make
$ sudo make install

    • fcl

      git clone https://github.com/flexible-collision-library/fcl.git

      Since python-fcl uses version 0.5.0 of fcl, checkout with tag 0.5.0

      $ cd fcl
$ git checkout 0.5.0
$ mkdir build
$ cd build
$ cmake ..
$ sudo make
$ sudo make install

Install Pykin

pip3 install pykin

Quick Start

You can see various examples in examples directory

  • Robot Info

    You can see 7 robot info.

    baxter, sawyer, iiwa14, iiwa7, panda, ur5e, doosan

    $ cd examples
$ python robot_info.py $(robot_name)
# baxter
$ python robot_info.py baxter
# saywer
$ python robot_info.py sawyer

  • Forward kinematics

    You can compute the forward kinematics as well as visualize the visual or collision geometry.

    $ cd examples/forward_kinematics
$ python robot_fk_baxter_test.py
    visual collision

  • Inverse Kinematics

    You can compute the inverse kinematics using levenberg marquardt(LM) or newton raphson(NR) method

    $ cd examples/inverse_kinematics
$ python robot_ik_baxter_test.py

  • Sampling based Inverse Kinematics

    You can compute the inverse kinematics using geometric-aware bayesian optimization(GaBO) method

    For more detailed information, check GaBO module

    $ cd examples/inverse_kinematics
$ python robot_ik_gabo_test.py

  • Collision check

    The below images show the collision result as well as visualize robot using trimesh.Scene class

    $ cd examples/trimesh_renders
$ python sawyer_render.py
    trimesh.Scene Result

Visualization

You can see visualization using matplotlib library or trimesh.Scene class.

  • Visualize simple urdf using matplotlib

    ur5e sawyer iiwa14 panda

  • Visualize visual geometry using matplotlib

    ur5e sawyer iiwa14 panda

  • Visualize collision geometry using matplotlib

    ur5e sawyer iiwa14 panda

  • Visualize mesh about visual/collision geometry using trimesh.Scene class

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