RAI 랩 인턴을 시작하면서 가장 먼저 한 작업은

N 자유도 매니퓰레이터의 URDF를 파싱하고 Kinematics를 푸는 라이브러리를 만드는 것이었습니다.

2달 동안 정말 힘들었지만 새로운 걸 알아가는 재미가 있어 버틸 수 있었습니다.

코딩실력이 부족해 많이 어설프지만 누군가 도움이 되었으면 하는 바램으로 구현하였습니다.

pykin

Python Interface for the Robot Kinematics Library pykin

This library has been created simply by referring to ikpy

Features

• Pure python library
• Support only URDF file
• Compute Forward, Inverse Kinematics and Jacobian
• There are two ways to find the IK solution, referring to the Introduction to Humanoid Robotics book.
• Compute Collision checkinkg
• Plot Robot Kinematic Chain and Robot Mesh (STL file)

Installation

Requirements

You need a python-fcl package to do object collision checking.

• For Ubuntu, using apt

  sudo apt install liboctomap-dev

  sudo apt install libfcl-dev

• For Mac, First, Download the source and build it.

  • octomap

    git clone https://github.com/OctoMap/octomap.git

    $ cd octomap
    $ mkdir build
    $ cd build
    $ cmake ..
    $ make
    $ make install
    

  • fcl

    git clone https://github.com/flexible-collision-library/fcl.git

    Since python-fcl uses version 0.5.0 of fcl, checkout with tag 0.5.0

    $ cd fcl
    $ git checkout 0.5.0
    $ mkdir build
    $ cd build
    $ cmake ..
    $ make
    $ make install
    

If the above installation is complete

pip install python-fcl

Install Pykin

pip install pykin

When git clone, use the –recurse-submodules option.

The download may take a long time due to the large urdf file size.

git clone --recurse-submodules https://github.com/jdj2261/pykin.git

Quick Start

Code

• Robot Info

  You can see 4 example robot information.

  baxter, iiwa14, panda, and sawyer

• Forward Kinematics
• Jacobian
• Inverse Kinematics
• Self-Collision Check

Visualization

Code

• urdf

  You can see visualization using matplotlib.

baxter	sawyer	iiwa14	panda

• collision

  You can see collision defined in collision/geometry tags in urdf.

baxter	sawyer

• mesh

  You can see mesh defined in visual/geometry tags in urdf.

baxter	sawyer	iiwa14	panda

• Animation

  You can see an animation that visualizes trajectory

  Please refer to here