Science Score: 77.0%
This score indicates how likely this project is to be science-related based on various indicators:
-
✓CITATION.cff file
Found CITATION.cff file -
✓codemeta.json file
Found codemeta.json file -
✓.zenodo.json file
Found .zenodo.json file -
✓DOI references
Found 2 DOI reference(s) in README -
✓Academic publication links
Links to: zenodo.org -
✓Committers with academic emails
1 of 16 committers (6.3%) from academic institutions -
○Institutional organization owner
-
○JOSS paper metadata
-
○Scientific vocabulary similarity
Low similarity (13.6%) to scientific vocabulary
Keywords
Repository
IKPy, an Universal Inverse Kinematics library
Basic Info
- Host: GitHub
- Owner: Phylliade
- License: apache-2.0
- Language: Python
- Default Branch: master
- Homepage: http://phylliade.github.io/ikpy
- Size: 25.1 MB
Statistics
- Stars: 901
- Watchers: 20
- Forks: 170
- Open Issues: 27
- Releases: 14
Topics
Metadata Files
README.md
IKPy
Demo
Live demos of what IKPy can do (click on the image below to see the video):
Also, a presentation of IKPy: Presentation.
Features
With IKPy, you can:
- Compute the Inverse Kinematics of every existing robot.
- Compute the Inverse Kinematics in position, orientation, or both
- Define your kinematic chain using arbitrary representations: DH (Denavit–Hartenberg), URDF, custom...
- Automatically import a kinematic chain from a URDF file.
- Support for arbitrary joint types:
revolute,prismaticand more to come in the future - Use pre-configured robots, such as baxter or the poppy-torso
- IKPy is precise (up to 7 digits): the only limitation being your underlying model's precision, and fast: from 7 ms to 50 ms (depending on your precision) for a complete IK computation.
- Plot your kinematic chain: no need to use a real robot (or a simulator) to test your algorithms!
- Define your own Inverse Kinematics methods.
- Utils to parse and analyze URDF files:
Moreover, IKPy is a pure-Python library: the install is a matter of seconds, and no compiling is required.
Installation
You have three options:
- From PyPI (recommended) - simply run:
bash
pip install ikpy
If you intend to plot your robot, you can install the plotting dependencies (mainly matplotlib):
bash
pip install 'ikpy[plot]'
- From source - first download and extract the archive, then run:
bash
pip install ./
NB: You must have the proper rights to execute this command
Quickstart
Follow this IPython notebook.
Guides and Tutorials
Go to the wiki. It should introduce you to the basic concepts of IKPy.
API Documentation
An extensive documentation of the API can be found here.
Dependencies and compatibility
Starting with IKPy v3.1, only Python 3 is supported. For versions before v3.1, the library can work with both versions of Python (2.7 and 3.x).
In terms of dependencies, it requires numpy and scipy.
sympy is highly recommended, for fast hybrid computations, that's why it is installed by default.
matplotlib is optional: it is used to plot your models (in 3D).
Contributing
IKPy is designed to be easily customisable: you can add your own IK methods or robot representations (such as DH-Parameters) using a dedicated developer API.
Contributions are welcome: if you have an awesome patented (but also open-source!) IK method, don't hesitate to propose adding it to the library!
Links
- If performance is your main concern,
aversive++has an inverse kinematics module written in C++, which works the same way IKPy does.
Citation
If you use IKPy as part of a publication, please use the Bibtex below as a citation:
bibtex
@software{Manceron_IKPy,
author = {Manceron, Pierre},
doi = {10.5281/zenodo.6551105},
license = {GPL-2.0},
title = {{IKPy}},
url = {https://github.com/Phylliade/ikpy}
}
Owner
- Name: Pierre Manceron
- Login: Phylliade
- Kind: user
- Location: Paris
- Company: Raidium
- Repositories: 9
- Profile: https://github.com/Phylliade
Artificial Intelligence Engineer
Citation (CITATION.cff)
# This CITATION.cff file was generated with cffinit.
# Visit https://bit.ly/cffinit to generate yours today!
cff-version: 1.2.0
title: IKPy
type: software
authors:
- given-names: Pierre
family-names: Manceron
orcid: 'https://orcid.org/0000-0002-2970-973X'
doi: 10.5281/zenodo.6551105
abstract: >-
IKPy, an Universal Inverse Kinematics library
repository-code: "https://github.com/Phylliade/ikpy"
keywords:
- inverse-kinematics
- robotics
- python
- urdf
- poppy
license: GPL-2.0
GitHub Events
Total
- Issues event: 6
- Watch event: 142
- Issue comment event: 11
- Gollum event: 1
- Pull request event: 3
- Fork event: 11
Last Year
- Issues event: 6
- Watch event: 142
- Issue comment event: 11
- Gollum event: 1
- Pull request event: 3
- Fork event: 11
Committers
Last synced: 10 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| Pierre Manceron | p****n@g****m | 477 |
| buschbapti | b****h@i****r | 5 |
| Pierre Rouanet | p****t@g****m | 4 |
| Pierre Manceron | p****n@o****m | 4 |
| Maxim Kulkin | m****n@g****m | 2 |
| Simon Steinmann | 5****n | 2 |
| Yoan Mollard | y****d | 2 |
| luz paz | l****z | 2 |
| Alban Hoxha | d****t@g****m | 1 |
| Fabien Rohrer | f****r@g****m | 1 |
| Huong Minh Luu | P****3 | 1 |
| KDercksen | m****l@k****m | 1 |
| Pusong Li | a****i@g****m | 1 |
| The Gitter Badger | b****r@g****m | 1 |
| Yana | y****n@g****m | 1 |
| Zak Sadiq | t****e@g****m | 1 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: 6 months ago
All Time
- Total issues: 73
- Total pull requests: 52
- Average time to close issues: 12 months
- Average time to close pull requests: 21 days
- Total issue authors: 68
- Total pull request authors: 15
- Average comments per issue: 3.66
- Average comments per pull request: 0.65
- Merged pull requests: 43
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 7
- Pull requests: 4
- Average time to close issues: about 1 month
- Average time to close pull requests: 25 days
- Issue authors: 7
- Pull request authors: 2
- Average comments per issue: 1.43
- Average comments per pull request: 0.5
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- AhmetMericOzcan (4)
- MADONOKOUKI (2)
- PMARC14 (2)
- JasonWong08 (1)
- SimonF89 (1)
- jurka14 (1)
- mikekaram (1)
- 3dprintingdoctor (1)
- FredTrumpSenior (1)
- nevercast (1)
- mhwang003 (1)
- fire (1)
- HaffmannGG (1)
- EdoFZI (1)
- tekntrash (1)
Pull Request Authors
- Phylliade (37)
- souljaboy764 (2)
- ymollard (2)
- luzpaz (2)
- AdvaitChandorkar07 (2)
- zaksadiq (2)
- Lemin2 (2)
- Tanneguydv (2)
- Surya-Abhinai (2)
- 01halibut (1)
- Klausstaler (1)
- alxy (1)
- Simon-Steinmann (1)
- hassony2 (1)
- PyGeek03 (1)
Top Labels
Issue Labels
Pull Request Labels
Packages
- Total packages: 2
-
Total downloads:
- pypi 7,679 last-month
- Total docker downloads: 30
-
Total dependent packages: 7
(may contain duplicates) -
Total dependent repositories: 20
(may contain duplicates) - Total versions: 53
- Total maintainers: 2
pypi.org: ikpy
An inverse kinematics library aiming performance and modularity
- Homepage: https://github.com/Phylliade/ikpy
- Documentation: https://ikpy.readthedocs.io/
- License: apache-2.0
-
Latest release: 3.4.2
published over 1 year ago
Rankings
Maintainers (2)
proxy.golang.org: github.com/Phylliade/ikpy
- Documentation: https://pkg.go.dev/github.com/Phylliade/ikpy#section-documentation
- License: apache-2.0
-
Latest release: v3.4.2+incompatible
published over 1 year ago
Rankings
Dependencies
- actions/checkout v1 composite
- actions/setup-python v1 composite
- pypa/gh-action-pypi-publish master composite