A Flexible Framework for Robot Control in Python
Project description
scikit-robot: A Flexible Framework for Robot visualization and programming in Python
Documentation | Installation | Quick Start | Python API | Contribute
Scikit-Robot is a lightweight pure-Python library for robotic kinematics, motion planning, visualization and control.
Installation
You may need to install some dependencies by apt-get install:
sudo apt-get update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev
Then,
pip install scikit-robot
If you would like to use Pybullet Interface
, open3d
and fast-simplification
for mesh simplification,
pip install scikit-robot[all]
Command Line Tools
Visualize URDF
To visualize a URDF model and inspect your robot's configuration, you can use the visualize-urdf
command as follows:
visualize-urdf ~/.skrobot/pr2_description/pr2.urdf
If you experience performance issues with the default viewer, try pyrender for smoother visualization:
visualize-urdf ~/.skrobot/pr2_description/pr2.urdf --viewer pyrender
Running these commands should open a viewer displaying your robot’s 3D model. Below is a sample image of what you should expect.
Create Your Own Robot Model (URDF)
If you want to build your own robot from scratch, you can refer to the How to Create URDF from CAD Software documentation.
Features
- Loading robot model from URDF (examples/robot_models.py)
- Forward and inverse kinematics (examples/trimesh_scene_viewer.py examples/pr2_inverse_kinematics.py)
- Collision detection
- Interactive viewer (examples/trimesh_scene_viewer.py)
- Pybullet and ROS command interface (examples/pybullet_robot_interface.py)
- Forward and inverse dynamics
- Path planning (examples/collision_free_trajectory.py)
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