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https://github.com/Phylliade/ikpy
IKPy, an Universal Inverse Kinematics library
https://github.com/Phylliade/ikpy
inverse-kinematics poppy python robotics urdf
Last synced: 3 months ago
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IKPy, an Universal Inverse Kinematics library
- Host: GitHub
- URL: https://github.com/Phylliade/ikpy
- Owner: Phylliade
- License: apache-2.0
- Created: 2015-09-22T12:41:04.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2024-08-12T12:38:36.000Z (6 months ago)
- Last Synced: 2024-11-13T17:48:51.099Z (3 months ago)
- Topics: inverse-kinematics, poppy, python, robotics, urdf
- Language: Python
- Homepage: http://phylliade.github.io/ikpy
- Size: 25.1 MB
- Stars: 757
- Watchers: 20
- Forks: 154
- Open Issues: 24
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
Awesome Lists containing this project
- awesome-robotic-tooling - ikpy - An Inverse Kinematics library aiming performance and modularity. (Sensor Processing / Calibration and Transformation)
README
# IKPy
[](https://pypi.python.org/pypi/ikpy/)
[](https://zenodo.org/doi/10.5281/zenodo.6551105)
## Demo
Live demos of what IKPy can do \(click on the image below to see the video\):
[](https://www.youtube.com/watch?v=H0ysr5qSbis)
[](https://www.youtube.com/watch?v=Jq0-DkEwwj4)
Also, a presentation of IKPy: [Presentation](https://github.com/Phylliade/ikpy/blob/master/tutorials/IKPy%20speech.pdf).
## Features
With IKPy, you can:
* Compute the **Inverse Kinematics** of every existing robot.
* Compute the Inverse Kinematics in **position, [orientation](./tutorials/Orientation.ipynb)**, or both
* Define your kinematic chain using **arbitrary representations**: DH (Denavit–Hartenberg), URDF, custom...
* Automatically import a kinematic chain from a **URDF file**.
* Support for arbitrary joint types: `revolute`, `prismatic` and more to come in the future
* Use pre-configured robots, such as [**baxter**](./tutorials/Baxter%20kinematics.ipynb) or the **poppy-torso**
* IKPy is **precise** (up to 7 digits): the only limitation being your underlying model's precision, and **fast**: from 7 ms to 50 ms (depending on your precision) for a complete IK computation.
* **Plot** your kinematic chain: no need to use a real robot (or a simulator) to test your algorithms!
* Define your own Inverse Kinematics methods.
* Utils to parse and analyze URDF files:
Moreover, IKPy is a **pure-Python library**: the install is a matter of seconds, and no compiling is required.
## Installation
You have three options:
1. From PyPI \(recommended\) - simply run:
```bash
pip install ikpy
```
If you intend to plot your robot, you can install the plotting dependencies \(mainly `matplotlib`\):
```bash
pip install 'ikpy[plot]'
```
2. From source - first download and extract the archive, then run:
```bash
pip install ./
```
NB: You must have the proper rights to execute this command
## Quickstart
Follow this IPython [notebook](https://github.com/Phylliade/ikpy/blob/master/tutorials/Quickstart.ipynb).
## Guides and Tutorials
Go to the [wiki](https://github.com/Phylliade/ikpy/wiki). It should introduce you to the basic concepts of IKPy.
## API Documentation
An extensive documentation of the API can be found [here](http://ikpy.readthedocs.org).
## Dependencies and compatibility
Starting with IKPy v3.1, only Python 3 is supported.
For versions before v3.1, the library can work with both versions of Python \(2.7 and 3.x\).
In terms of dependencies, it requires `numpy` and `scipy`.
`sympy` is highly recommended, for fast hybrid computations, that's why it is installed by default.
`matplotlib` is optional: it is used to plot your models \(in 3D\).
## Contributing
IKPy is designed to be easily customisable: you can add your own IK methods or robot representations \(such as DH-Parameters\) using a dedicated [developer API](https://github.com/Phylliade/ikpy/wiki/Contributing).
Contributions are welcome: if you have an awesome patented \(but also open-source!\) IK method, don't hesitate to propose adding it to the library!
## Links
* If performance is your main concern, `aversive++` has an inverse kinematics [module](https://github.com/AversivePlusPlus/ik) written in C++, which works the same way IKPy does.
## Citation
If you use IKPy as part of a publication, please use the Bibtex below as a citation:
```bibtex
@software{Manceron_IKPy,
author = {Manceron, Pierre},
doi = {10.5281/zenodo.6551105},
license = {GPL-2.0},
title = {{IKPy}},
url = {https://github.com/Phylliade/ikpy}
}
```