robotikbase
Science Score: 44.0%
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✓CITATION.cff file
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✓codemeta.json file
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○Scientific vocabulary similarity
Low similarity (10.4%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: kpwelsh
- Language: Rust
- Default Branch: master
- Size: 34.2 KB
Statistics
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
Installation
This Rust package is not registered on crates.io. If you want to install this, you will need to install it from this repo with either
cargo install --git https://github.com/kpwelsh/RobotIKBase.git
to install it locally, or by adding
[dependencies]
robot_ik_base = {git = "https://github.com/kpwelsh/RobotIKBase.git" }
to your Cargo.toml file to add it as a dependency. (Note that specifying remote git dependencies will prevent you from publishing your package)
Usage
This package exposes a single interface intended to solve the robot arm inverse kinematics problem via non-linear optimization. For details on the mathematical approach and implementation, see RobotIKBase.
The IKSolver interface makes use of both the k library for kinematics and the OptimizationEngine non-linear optimizer to provide a simple interface for determining the necessary joint angles for a robot arm to reach a certain end-effector pose. There is some support for self-collision avoidance, but you may need to modify the cost function code yourself to achieve decent outcomes.
Example
The following example can be found as a library test case.
```rust // Create a solver instance from a URDF file let mut solver = IKSolver::fromurdffp("test/test.urdf"); // Set the desired end-effector frame (k only likes this to be joints) solver.setee("pandajoint8");
// Pick some pose to achieve. // This methods works fine for a generic test pose, // but you will probably have an external pose source. let q = solver.arm.asref().unwrap().jointpositions(); solver.arm.asref().unwrap().setjointpositionsclamped(&q); let pose = solver.arm.asref().unwrap().endtransform(); let mut q = solver.arm.asref().unwrap().jointpositions(); q[1] += 0.5;
// Ask it to solve the IK. let result = solver.solve(&q, &pose); assert!(result.is_ok());
// Here we just double check that it found an OK answer. solver.arm.asref().unwrap().setjointpositions(&result.unwrap()).unwrap(); let foundpose = solver.arm.asref().unwrap().endtransform();
assert!((found_pose.translation.vector - pose.translation.vector).magnitude() <= 1e-4); ```
Owner
- Name: Kevin Welsh
- Login: kpwelsh
- Kind: user
- Repositories: 5
- Profile: https://github.com/kpwelsh
Citation (CITATION.cff)
cff-version: 1.2.0 message: "If you use this software, please cite it as below." authors: - family-names: "Welsh" given-names: "Kevin" orcid: "https://orcid.org/0000-0001-6341-6562" title: "Real Time Robot Arm IK" version: 1.1.0 date-released: 5-10-2022 url: "https://github.com/kpwelsh/RobotIKBase"
GitHub Events
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Last Year
Issues and Pull Requests
Last synced: 11 months ago
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- Average comments per issue: 0
- Average comments per pull request: 0
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- Bot pull requests: 0
Past Year
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- Pull requests: 0
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- Average comments per issue: 0
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- Bot issues: 0
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