Prerequisites

ikfast_pybind depends on the following dependencies, which come from pybind11 for building the python bindings.

On Unix (Linux, OS X)

• A compiler with C++11 support

• CMake >= 2.8.12

On Windows

• Visual Studio 2015 (required for all Python versions, see notes below)

• CMake >= 3.1

It is recommended (especially for Windows users) to test the environment with the cmake_example for pybind11 before proceeding to build conmech.

Installation

git clone --recursive https://github.com/yijiangh/ikfast_pybind
cd ikfast_pybind
pip install .
# try with '--user' if you encountered a sudo problem

For developers:

git clone --recursive https://github.com/yijiangh/ikfast_pybind
cd ikfast_pybind
python setup.py sdist
pip install --verbose dist/*.tar.gz

With the setup.py file included in the base folder, the pip install command will invoke CMake and build the pybind11 module as specified in CMakeLists.txt.

References

@phdthesis{diankov_thesis,
  author = "Rosen Diankov",
  title = "Automated Construction of Robotic Manipulation Programs",
  school = "Carnegie Mellon University, Robotics Institute",
  month = "August",
  year = "2010",
  number= "CMU-RI-TR-10-29",
  url={http://www.programmingvision.com/rosen_diankov_thesis.pdf},
}

0.1.1

Added - Added support for kawasaki_rs010n robot

Changed - Reorganize test files to having a test file for each robot type.

Updated - pybind11 set to track master, commit e08a58111, which should fix pip installation issue.

0.1.0

Available robots - kuka_kr6_r900 (tested) - ur3 - ur5 - abb_irb4600_40_255 - franka_panda (tested) - eth_rfl (tested)

Added Modules for franka_panda, eth_rfl robots.

Add ifkast modules for ur5, kuka_kr6_r900, abb_irb4600. abb_irb4600 test fails some time randomly - need to regenerate its IKfast cpp files (might be the floating point truncation issue).

Include the upstreamed ur_kinematics commit 6734142 July 2 2019 but it seems that the old one works more stably… I will do more tests on this.