GitPlanet

Cheap and reliable Node.js hosting starts at $3/month, and $1/month static HTML hosting

Created with love in Canada, visit hostnodejs.com today

Feel like to post an Ad? Learn Details
All Projects → neka-nat → kinpy

neka-nat / kinpy

Licence: MIT License
Simple kinematics calculation toolkit for robotics

Programming Languages

python
139335 projects - #7 most used programming language
Makefile
30231 projects

Labels

robotroboticskinematicsinverse-kinematicsmanipulatorsdfurdfforward-kinematicsmujoco

Projects that are alternatives of or similar to kinpy

Robotics-Planning-Dynamics-and-Control
RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajectory planning and path planning problems.
Stars: ✭ 171 (+256.25%)
Mutual labels:  kinematics, inverse-kinematics, forward-kinematics
Hexapod Robot Simulator
A hexapod robot simulator built from first principles
Stars: ✭ 577 (+1102.08%)
Mutual labels:  robot, robotics, kinematics
Handeye calib camodocal
Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.
Stars: ✭ 364 (+658.33%)
Mutual labels:  robot, robotics, kinematics
Kinematics
🤖 JavaScript 6DOF robot kinematics library
Stars: ✭ 187 (+289.58%)
Mutual labels:  robot, robotics, kinematics
Hexapod
Blazing fast hexapod robot simulator for the web.
Stars: ✭ 370 (+670.83%)
Mutual labels:  robot, robotics, kinematics
Pybotics
The Python Toolbox for Robotics
Stars: ✭ 192 (+300%)
Mutual labels:  robot, robotics, kinematics
ROS-TCP-Connector
No description or website provided.
Stars: ✭ 123 (+156.25%)
Mutual labels:  robot, robotics
URDF-Importer
URDF importer
Stars: ✭ 135 (+181.25%)
Mutual labels:  robot, urdf
scikit-robot
A Flexible Framework for Robot Control in Python
Stars: ✭ 70 (+45.83%)
Mutual labels:  robot, kinematics
interbotix ros manipulators
ROS Packages for Interbotix Arms
Stars: ✭ 32 (-33.33%)
Mutual labels:  robotics, manipulator
wb-toolbox
Simulink toolbox to rapidly prototype robot controllers
Stars: ✭ 20 (-58.33%)
Mutual labels:  robot, kinematics
urdf-rs
URDF parser using serde-xml-rs for rust
Stars: ✭ 21 (-56.25%)
Mutual labels:  robot, urdf
Duik-15
Duduf IK & Animation Tools for Adobe After Effects
Stars: ✭ 156 (+225%)
Mutual labels:  kinematics, inverse-kinematics
bio ik
MoveIt kinematics_base plugin based on particle optimization & GA
Stars: ✭ 104 (+116.67%)
Mutual labels:  robotics, inverse-kinematics
idyntree
Multibody Dynamics Library designed for Free Floating Robots
Stars: ✭ 109 (+127.08%)
Mutual labels:  robot, urdf
Robotlib.jl
Robotics library written in the Julia programming language
Stars: ✭ 32 (-33.33%)
Mutual labels:  kinematics, inverse-kinematics
RobotCreator
FreeCAD Workbench for URDF & SDF and Gazebo
Stars: ✭ 43 (-10.42%)
Mutual labels:  sdf, urdf
trac ik
ROS 2 port of `trac_ik`, an alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL.
Stars: ✭ 14 (-70.83%)
Mutual labels:  robotics, inverse-kinematics
erwhi-hedgehog
Erwhi Hedgehog main repository
Stars: ✭ 31 (-35.42%)
Mutual labels:  robot, robotics
MuJoCo RL UR5
A MuJoCo/Gym environment for robot control using Reinforcement Learning. The task of agents in this environment is pixel-wise prediction of grasp success chances.
Stars: ✭ 108 (+125%)
Mutual labels:  robotics, mujoco
View All Similar Projects ➔

Build status PyPI version MIT License Downloads

Simple kinematics body toolkit.

Core features

  • Pure python library.
  • Support URDF, SDF and MJCF file.
  • Calculate FK, IK and jacobian.

Installation

pip install kinpy

Getting started

Here is a program that reads urdf and generates a kinematic chain.

import kinpy as kp

chain = kp.build_chain_from_urdf(open("kuka_iiwa/model.urdf").read())
print(chain)
# lbr_iiwa_link_0_frame
#  	lbr_iiwa_link_1_frame
#  	 	lbr_iiwa_link_2_frame
#  	 	 	lbr_iiwa_link_3_frame
#  	 	 	 	lbr_iiwa_link_4_frame
#  	 	 	 	 	lbr_iiwa_link_5_frame
#  	 	 	 	 	 	lbr_iiwa_link_6_frame
#  	 	 	 	 	 	 	lbr_iiwa_link_7_frame

Displays the parameter names of joint angles included in the chain.

print(chain.get_joint_parameter_names())
# ['lbr_iiwa_joint_1', 'lbr_iiwa_joint_2', 'lbr_iiwa_joint_3', 'lbr_iiwa_joint_4', 'lbr_iiwa_joint_5', 'lbr_iiwa_joint_6', 'lbr_iiwa_joint_7']

Given joint angle values, calculate forward kinematics.

import math
th = {'lbr_iiwa_joint_2': math.pi / 4.0, 'lbr_iiwa_joint_4': math.pi / 2.0}
ret = chain.forward_kinematics(th)

You can get the position and orientation of each link.

Visualization

KUKA IIWA

kuka

Mujoco humanoid

humanoid

Mujoco ant

ant

Simple arm

simple_arm

Citing

@software{kinpy,
    author = {{Kenta-Tanaka et al.}},
    title = {kinpy},
    url = {https://github.com/neka-nat/kinpy},
    version = {0.0.3},
    date = {2019-10-11},
}
Note that the project description data, including the texts, logos, images, and/or trademarks, for each open source project belongs to its rightful owner. If you wish to add or remove any projects, please contact us at [email protected].