pyfabrik

Python 3 implementation of FABRIK (Forward And Backward Reaching Inverse Kinematics).

Installation

pip install pyfabrik

Usage

NOTE: API is still very unstable (until the 1.0 release). Suggestions are welcome.

import pyfabrik
from vectormath import Vector3

initial_joint_positions = [Vector3(0, 0, 0), Vector3(10, 0, 0), Vector3(20, 0, 0)]
tolerance = 0.01

# Initialize the Fabrik class (Fabrik, Fabrik2D or Fabrik3D)
fab = pyfabrik.Fabrik3D(initial_joint_positions, tolerance)

fab.move_to(Vector3(20, 0, 0))
fab.angles_deg # Holds [0.0, 0.0, 0.0]

fab.move_to(Vector3(60, 60, 0)) # Return 249 as number of iterations executed
fab.angles_deg # Holds [43.187653094161064, 3.622882738369357, 0.0]

Goal

Roadmap

• Basic 2D (flat chain)
• Basic 3D (flat chain)
• 3D testing sandbox
• Basic 2D joint movement restrictions
• Basic 3D joint movement restrictions
• Complex chain support 2D
• Complex chain support 3D

Contributing

All contributions are appreciated.

Read the paper paper.

FABRIKs homepage has links to other implementations.

License

MIT License

Copyright (c) 2020 Saša Savić

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.