https://github.com/openrr/k

k: Kinematics Library for rust-lang
https://github.com/openrr/k

kinematics robotics rust

Last synced: 5 days ago
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k: Kinematics Library for rust-lang

• Host: GitHub
• URL: https://github.com/openrr/k
• Owner: openrr
• License: apache-2.0
• Created: 2017-08-03T13:54:13.000Z (over 7 years ago)
• Default Branch: main
• Last Pushed: 2024-12-26T02:49:18.000Z (about 1 month ago)
• Last Synced: 2025-01-18T04:01:58.966Z (13 days ago)
• Topics: kinematics, robotics, rust
• Language: Rust
• Homepage:
• Size: 504 KB
• Stars: 183
• Watchers: 7
• Forks: 16
• Open Issues: 7
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-rust-list - k - lang. (Motion Control)
• awesome-rust-list - k - lang. (Motion Control)

README

        
# `k`: Kinematics library for rust-lang

[![Build Status](https://img.shields.io/github/actions/workflow/status/openrr/k/ci.yml?branch=main&logo=github)](https://github.com/openrr/k/actions) [![crates.io](https://img.shields.io/crates/v/k.svg?logo=rust)](https://crates.io/crates/k) [![codecov](https://codecov.io/gh/openrr/k/branch/main/graph/badge.svg?token=A0MGJ1V6US)](https://codecov.io/gh/openrr/k) [![docs](https://docs.rs/k/badge.svg)](https://docs.rs/k) [![discord](https://dcbadge.vercel.app/api/server/8DAFFKc88B?style=flat)](https://discord.gg/8DAFFKc88B)

`k` has below functionalities.

1. Forward kinematics

1. Inverse kinematics

1. URDF Loader

`k` uses [nalgebra](https://nalgebra.org) as math library.

See [Document](https://docs.rs/k) and examples/ for more details.

## Requirements to build examples

```bash

sudo apt install g++ cmake xorg-dev libglu1-mesa-dev

```

## IK example with GUI

```bash

cargo run --release --example interactive_ik

```

![ik_sample](https://github.com/openrr/k/raw/main/img/screenshot.png)

Push below keys to move the end of the manipulator.

- `f`: forward

- `b`: backward

- `p`: up

- `n`: down

- `l`: left

- `r`: right

- `z`: reset the manipulator state.

## Create link tree from urdf and solve IK

```rust

use k::prelude::*;

fn main() {

    // Load urdf file

    let chain = k::Chain::::from_urdf_file("urdf/sample.urdf").unwrap();

    println!("chain: {chain}");

    // Set initial joint angles

    let angles = vec![0.2, 0.2, 0.0, -1.0, 0.0, 0.0, 0.2, 0.2, 0.0, -1.0, 0.0, 0.0];

    chain.set_joint_positions(&angles).unwrap();

    println!("initial angles={:?}", chain.joint_positions());

    let target_link = chain.find("l_wrist_pitch").unwrap();

    // Get the transform of the end of the manipulator (forward kinematics)

    chain.update_transforms();

    let mut target = target_link.world_transform().unwrap();

    println!("initial target pos = {}", target.translation);

    println!("move z: +0.1");

    target.translation.vector.z += 0.1;

    // Create IK solver with default settings

    let solver = k::JacobianIkSolver::default();

    // Create a set of joints from end joint

    let arm = k::SerialChain::from_end(target_link);

    // solve and move the manipulator angles

    solver.solve(&arm, &target).unwrap();

    println!("solved angles={:?}", chain.joint_positions());

    chain.update_transforms();

    let solved_pose = target_link.world_transform().unwrap();

    println!("solved target pos = {}", solved_pose.translation);

}

```

## Structure of API

Top level interface is `Chain` struct. It contains `Node`s and they have the relations between nodes (parent/children).

Actual data (joint angle(position), transform between nodes) is stored in `Joint` object inside nodes.

![ik_sample](https://github.com/openrr/k/raw/main/img/chain.png)

You can get local/world transform of nodes. See below figure to understand what is the node's `local_transform()` and `world_transform()`.

![ik_sample](https://github.com/openrr/k/raw/main/img/transform.png)

## `OpenRR` Community

[Here](https://discord.gg/8DAFFKc88B) is a discord server for `OpenRR` users and developers.