https://github.com/Phylliade/ikpy

IKPy, an Universal Inverse Kinematics library
https://github.com/Phylliade/ikpy

inverse-kinematics poppy python robotics urdf

Last synced: about 1 month ago
JSON representation

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 (about 9 years ago)
• Default Branch: master
• Last Pushed: 2024-08-12T12:38:36.000Z (4 months ago)
• Last Synced: 2024-11-13T17:48:51.099Z (about 1 month 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

[![PyPI](https://img.shields.io/pypi/v/ikpy.svg)](https://pypi.python.org/pypi/ikpy/)

[![DOI](https://zenodo.org/badge/42932894.svg)](https://zenodo.org/doi/10.5281/zenodo.6551105)

![demo](two_arms.png)

![IKPy on the baxter robot](baxter.png)

## Demo

Live demos of what IKPy can do \(click on the image below to see the video\):

[![](http://img.youtube.com/vi/H0ysr5qSbis/0.jpg)](https://www.youtube.com/watch?v=H0ysr5qSbis)

[![](http://img.youtube.com/vi/Jq0-DkEwwj4/0.jpg)](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:

![](./tutorials/assets/baxter_tree.png)

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}

}

```