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Recent Releases of ikpy

ikpy - v3.4.2

Update citation metadata

What's Changed

  • Update bibtex by @Phylliade in https://github.com/Phylliade/ikpy/pull/152
  • Update CITATION.cff by @Phylliade in https://github.com/Phylliade/ikpy/pull/153
  • Update _version.py by @Phylliade in https://github.com/Phylliade/ikpy/pull/154

Full Changelog: https://github.com/Phylliade/ikpy/compare/v3.4.1...v3.4.2

- Python
Published by Phylliade over 1 year ago

ikpy - v3.4.1

This is a technical release, with no new features

- Python
Published by Phylliade over 1 year ago

ikpy - v3.4

Add support for DH parameters, thanks to https://github.com/Tanneguydv, through https://github.com/Phylliade/ikpy/pull/143 And new robot, the Robotis, thanks to https://github.com/zaksadiq, through https://github.com/Phylliade/ikpy/pull/148

- Python
Published by Phylliade over 1 year ago

ikpy - v3.3.4

Add a new optimizer parameter in Chain.inverse_kinematics to select the optimizer to use:

The optimizer to use. Choices: * "least_squares": Use scipy.optimize.least_squares (the default) * "scalar": Use scipy.optimize.minimize (the default prior to IKPy 3.3)

- Python
Published by Phylliade almost 3 years ago

ikpy - v3.3.3

Technical release to add DOI information

- Python
Published by Phylliade almost 4 years ago

ikpy - v3.3.2

Activate Zenedo DOI

- Python
Published by Phylliade almost 4 years ago

ikpy - v3.3.1

v3.3.1

  • Remove unused optimization_method in IK function
  • Official support for Python 3.10

- Python
Published by Phylliade almost 4 years ago

ikpy - v3.3 - Performance improvements

Release v3.3

The IKPy IK function now uses a new optimizer that improves the performances:

  • Less computation time
  • More precise computations

- Python
Published by Phylliade about 4 years ago

ikpy - v3.2 - Prismatic joints

Add full support for prismatic joints

  • type="prismatic" in URDF
  • forward kinematics
  • bounds
  • prismatic joints axes are plotted in dotted lines, where revolute joints are plotted in solid lines

Fixes #96 Fixes #104

Ex on URDF provided by https://github.com/AhmetMericOzcan. The prismatic joint is the dotted one:

Figure 6(1)

When sliding the prismatic joint, we see it moving: Figure 5(1)

Additional features

  • Support for arbitrary joint types in the URDF
  • Fixed a bug in URDF parsing where fixed joints could be considered as revolute
  • Support for customizable optimization algorithms. Fixes #108

Thanks to https://github.com/Klausstaler and https://github.com/AhmetMericOzcan for the support and resources!

- Python
Published by Phylliade over 4 years ago

ikpy - v3.1

v3.1

  • Drop Python 2 support
  • PEP517 builds
  • Support for type hints

- Python
Published by Phylliade about 5 years ago

ikpy -

Fix issue preventing use of IKPy on Python3.7 with PyPot: https://github.com/Phylliade/ikpy/issues/77

- Python
Published by Phylliade almost 6 years ago

ikpy - v3.0

  • Support for orientation
    • Along one axis
    • Along the full frame
  • New JSON format which permits loading and serializing a chain from a JSON file
  • Pre-created chains in the form of JSONs:
    • Baxter: left-arm, right-arm, head, pedestal
    • Poppy Torso
  • Plotting functions greatly improved
  • Utils to analyze an URDF file:
    • Get a tree of links from the URDF file
    • Plot the URDF tree

- Python
Published by Phylliade almost 6 years ago

ikpy - Release 2.3

  • Overall repository cleaning
  • Add support for bounds in URDF files (#42)

- Python
Published by Phylliade almost 7 years ago

ikpy - IKPy version 2

Complete rewrite of the library - Use simple objects interface - Expose API to customize behavior

- Python
Published by Phylliade almost 10 years ago