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Robotics kinematic calculation toolkit

Project description


Build Status PyPI version MIT License

Simple kinematics body toolkit.

Core features

  • Pure python library.
  • Support URDF and MJCF file.
  • Calculate FK and jacobian.


pip install kinpy

Getting started

Here is a program that reads urdf and generates a kinematic chain.

import kinpy as kp

chain = kp.build_chain_from_urdf(open("kuka_iiwa/model.urdf").read())
# lbr_iiwa_link_0_frame
#  	lbr_iiwa_link_1_frame
#  	 	lbr_iiwa_link_2_frame
#  	 	 	lbr_iiwa_link_3_frame
#  	 	 	 	lbr_iiwa_link_4_frame
#  	 	 	 	 	lbr_iiwa_link_5_frame
#  	 	 	 	 	 	lbr_iiwa_link_6_frame
#  	 	 	 	 	 	 	lbr_iiwa_link_7_frame

Displays the parameter names of joint angles included in the chain.

# ['lbr_iiwa_joint_1', 'lbr_iiwa_joint_2', 'lbr_iiwa_joint_3', 'lbr_iiwa_joint_4', 'lbr_iiwa_joint_5', 'lbr_iiwa_joint_6', 'lbr_iiwa_joint_7']

Given joint angle values, calculate forward kinematics.

import math
th = {'lbr_iiwa_joint_2': math.pi / 4.0, 'lbr_iiwa_joint_4': math.pi / 2.0}
ret = chain.forward_kinematics(th)

You can get the position and orientation of each link.




Mujoco humanoid


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