pyfabrik 0.3.0

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

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

GNU GENERAL PUBLIC LICENSE Version 3