https://github.com/hiroishida/tinyfk
minimum fast forward kinematics solver (+jacobian) in c++ and python binding
https://github.com/hiroishida/tinyfk
cpp forward-kinematics inverse-kinematics jacobian python robotics
Last synced: 2 months ago
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minimum fast forward kinematics solver (+jacobian) in c++ and python binding
- Host: GitHub
- URL: https://github.com/hiroishida/tinyfk
- Owner: HiroIshida
- License: mit
- Created: 2020-11-16T17:13:23.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2024-08-19T07:45:14.000Z (9 months ago)
- Last Synced: 2024-08-19T09:03:48.634Z (9 months ago)
- Topics: cpp, forward-kinematics, inverse-kinematics, jacobian, python, robotics
- Language: C++
- Homepage:
- Size: 474 KB
- Stars: 16
- Watchers: 2
- Forks: 2
- Open Issues: 12
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
## tinyfk [](https://github.com/HiroIshida/tinyfk/actions/workflows/main.yml) [](https://pypi.org/project/tinyfk/)
A tiny fast forward-kinematics solver written in c++ and its python wrapper
Installation by downloading wheel from PyPI (only linux):
```bash
pip install tinyfk
```
or, building locally from source (for developer):
```bash
sudo apt-get install libeigen3-dev
git clone https://github.com/HiroIshida/tinyfk.git
cd tinyfk
git submodule update --init
pip install .
```
### Usage
```python
import numpy as np
import tinyfk
from tinyfk import BaseType, KinematicModel, RotationType
urdf_model_path = tinyfk.pr2_urdfpath()
kin = KinematicModel(urdf_model_path)
joint_names = [
"r_shoulder_pan_joint",
"r_shoulder_lift_joint",
"r_upper_arm_roll_joint",
"r_elbow_flex_joint",
"r_forearm_roll_joint",
"r_wrist_flex_joint",
"r_wrist_roll_joint",
]
joint_ids = kin.get_joint_ids(joint_names)
end_link_id = kin.get_link_ids(["r_gripper_tool_frame"])[0]
# first 7 elements are for joints and the last 3 elements are for x, y, yaw of base.
q = np.array([0.564, 0.35, -0.74, -0.7, -0.7, -0.17, -0.63, 0.1, 0.2, 0.3])
poses, jacobians = kin.solve_fk(
q,
end_link_id,
joint_ids,
rot_type=RotationType.RPY,
base_type=BaseType.PLANER,
with_jacobian=True,
)
```
Also, simple inverse-kinematics demo is available in `python/example/ik.py`.
### For debugging
For debugging or developing, it's better using cmake directly rather than using `pip`. In this case, please use
```bash
sudo apt-get install libeigen3-dev
git clone https://github.com/HiroIshida/tinyfk.git
cd tinyfk
git submodule update --init
mkdir build
cd build
cmake --DCMAKE_BUILD_TYPE=Debug --DINSTALL_VIA_PIP=OFF ..
make -j4
# make install # please read the CMakeLists.txt before doing this
```
Note that when you build the python wrapper using cmake (not using pip), the package name for the wrapper will be `_tinyfk`. So, to make it compatible with the pip-installed one, please insert `import _tinyfk as tinyfk` in the beginning of the python script.