cyberbotics/pyikfast
Python bindings for the `ikfast` library and utilities to generate the inverse kinematics solution
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cyberbotics/pyikfast repository overview
Python Bindings for ikfast
Generate a Python ikfast library from the given URDF file.
This project provides all necessary utilities to generate ikpy C++ files and Python bindings for it.
Getting Started
Export URDF from Webots:
(right click on the robot in scene tree) > Export > (name it `robot.urdf`) > Save
Move to the directory with robot.urdf and execute:
docker run -v ${PWD}:/output cyberbotics/pyikfast [base_link] [effector]
After a few minutes your Python library should be ready ready! Install it as:
pip3 install .
Use the library:
import pyikfast
target_translation = [0.5, 0.5, 0.5]
target_rotation = [1, 0, 0, 0, 1, 0, 0, 0, 1]
# Calculate inverse kinematics
positions = pyikfast.inverse(target_translation, target_rotation)
print(positions)
# Calculate forward kinematics (we use the third IK solution)
translation, rotatation = pyikfast.forward(positions[2])
print(translation, rotation)
Tag summary
Content type
Image
Digest
Size
1.1 GB
Last updated
almost 6 years ago
docker pull cyberbotics/pyikfast