pytracik - Trac-IK bindings in Python
📢 Now available on PyPI! Install with
pip install pytracik. See Installation for details.
Welcome to pytracik, a Python library that provides convenient and efficient bindings for the Trac-IK inverse kinematics solver. With support for Python 3.8+ and compatibility across Windows, Linux and Mac environments. pytracik eliminates the need for ROS installation and simplifies the integration process.
✨ Differences from Original Repo:
- 🚀 ROS-Free Integration: Say goodbye to the ROS requirement. pytracik allows you to effortlessly incorporate Trac-IK's advanced inverse kinematics solver into your Python projects. However, it still depends on the
boost,eigen,orocos-kdlandnloptlibraries. - 💻 Cross-Platform Compatibility: Whether you're on Windows, Linux or Mac, pytracik ensures consistent functionality across environments.
🔗 Links
- Trac-IK Repository: https://bitbucket.org/traclabs/trac_ik/src/master/
- Trac-IK Homepage: https://traclabs.com/projects/trac-ik/
- Other ROS-free Trac-IK Python Bindings: https://github.com/mjd3/tracikpy
⚡ Quick Start
import os
import numpy as np
from trac_ik import TracIK
urdf_path = os.path.join(os.path.dirname(__file__), "urdf/yumi.urdf")
yumi_rgt_arm_iksolver = TracIK(base_link_name="yumi_body",
tip_link_name="yumi_link_7_r",
urdf_path=urdf_path, )
yumi_lft_arm_iksolver = TracIK(base_link_name="yumi_body",
tip_link_name="yumi_link_7_l",
urdf_path=urdf_path, )
seed_jnt = np.array([-0.34906585, -1.57079633, -2.0943951, 0.52359878, 0.,
0.6981317, 0.])
tgt_pos = np.array([.3, -.4, .1])
tgt_rotmat = np.array([[0.5, 0., 0.8660254],
[0., 1., 0.],
[-0.8660254, 0., 0.5]])
result = yumi_rgt_arm_iksolver.ik(tgt_pos, tgt_rotmat, seed_jnt_values=seed_jnt)
print(result)
Output:
[ 1.17331584 -1.99621953 -1.08811406 -0.18234367 0.66571608 1.26591
0.18141696]
📦 Installation
Version 0.0.4 fixes successful IK results outside bounded joint limits, including the boundary-seed case in issue #13.
⚡ Install from PyPI (recommended)
🐧 Linux (Ubuntu / Debian)
sudo apt-get install -y libboost-all-dev libeigen3-dev liborocos-kdl-dev libnlopt-dev libnlopt-cxx-dev
pip install pytracik
🍎 macOS
brew install boost eigen orocos-kdl nlopt
pip install pytracik
🪟 Windows
pip install pytracik
Linux ARM64 / aarch64 wheels
The release workflow builds and tests Linux x86_64 and aarch64 wheels on separate
native GitHub runners. Linux wheels target glibc 2.28 or newer and bundle KDL and
NLopt. ARM64 Linux requires an aarch64 wheel; macOS arm64 wheels cannot be used
on Linux. The 0.0.3 release did not include Linux aarch64 wheels.
python -m pip install --upgrade pip
python -m pip install --only-binary=:all: "pytracik==0.0.4"
Wheels cover CPython 3.9–3.13 on Windows x86_64, Linux x86_64/aarch64 and macOS Intel; macOS ARM64 covers CPython 3.10–3.13. macOS wheels require macOS 15 or newer. 32-bit ARM and musl-based Linux (for example Alpine) require a source build.
Building distributions on GitHub
Branch pushes and pull requests run the shared Build distributions workflow. It
builds a source archive and native wheels for every supported platform, installs
each repaired wheel in an isolated environment, and runs the joint-limit regression
tests. CI checks that all 24 expected wheels and their runtime libraries exist.
Download the wheels-* artifacts from a workflow run to try a build before release.
To publish, update trac_ik/version.py and push the matching tag (for example
v0.0.4). Publish to PyPI builds and verifies every platform before publishing,
using the repository's pypi environment and PyPI Trusted Publishing configuration.
🛠️ Manual Installation (from source)
- Download this library and enter the project directory
git clone https://github.com/chenhaox/pytracik.git
cd pytracik
🐧 Installation on Linux
Here we use Ubuntu 22.04 as an example.
- Install dependencies: 1. Boost 2. Eigen3 3. Orocos KDL 4. NLopt
sudo apt install libboost-all-dev libeigen3-dev liborocos-kdl-dev libnlopt-dev libnlopt-cxx-dev
- Install the package on Linux
pip install .
🪟 Install on MacOS
- Install dependencies: 1.Boost 2. Eigen3 3. Orocos-KDL 4.Nlopt
brew install boost eigen3 orocos-kdl nlopt
- Install the package on MacOS
pip install .
🪟 Install on Windows
Download dependencies from Official Websites
- Download Boost 1.79.0 (https://www.boost.org/)
- Eigen3 3.4.0 (https://eigen.tuxfamily.org/index.php?title=Main_Page)
- NLopt (https://nlopt.readthedocs.io/en/latest/)
- Orocos KDL (https://orocos.github.io/orocos_kinematics_dynamics/installation.html)
👉 Shortcut: Instead of downloading them individually, you can grab a pre-packaged zip with all dependencies from the project’s GitHub release:
📥 https://github.com/chenhaox/pytracik/releases/tag/dependency_files
🔹 Method 1: Install with pip (Recommended for most users)
Copy the downloaded dependency zip file and unzip it to project root directory. Then run the following command in the project root directory:
pip install .
🔹 Method 2: Manual Build with Visual Studio (For advanced users)
-
Download Visual Studio (https://visualstudio.microsoft.com/downloads/). Here we use Visual Studio 2022 as an example. Install required components:
- Desktop development with C++
- C++ CMake tools for Windows
-
Compile pytracik with Visual Studio following the instructions below. a. Create an C++
Empty projectin Visual Studio.b. Add the source files in
srcfolder to the project.c. Right click the project and select
Properties.- Set the
ConfigurationtoReleaseandPlatformtoActive (x64) - In the
Configuration Properites/Generaltab, set theTarget Nametopytracik_bindings. - Set the
Configuration TypetoDynamic Library (.dll). - Set C++ language standard to
ISO C++17 Standard (/std:c++17).
d. In the
Configuration Properites/Advancedtab, setTaget File Extensionto.pyd.e. In the
C/C++tab, add the include directories of 1. Boost, 2. Eigen3, 3. NLopt and 4. Orocos KDL 5. Python and 6. Pybind11 toAdditional Include Directories.f. In the
Linker/Generaltab, add the library directories of 1. Boost, 2. NLopt 3. Orocos KDL and 4. Python toAdditional Library Directories.g. In the
Linker/Inputtab, add the library names of 1. Boost, 2. NLopt 3. Orocos KDL and 4. Python toAdditional Dependencies.h. Set the
Solution ConfigurationtoReleaseandSolution Platformtox64. Then build the project. Thepytracik_bindings.pydfile will be generated in theReleasefolder. - Set the
-
Copy the
pytracik_bindings.pydfile to the pytracik folder. Note: if the errorImportError: DLL load failed while importing pytracik: The specified module could not be found.occurs, please copy thenlopt.dllin the<NLopt installation path\bin>to the pytracik folder: -
Make installation (Optional):
pip install -e .
1 maintainer
Metadata
1 maintainer
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