A Flexible Framework for Robot Control in Python
Project description
scikit-robot: A Flexible Framework for Robot Control 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 and open3d for mesh simplification,
pip install scikit-robot[all]
Features
- Loading robot model from URDF (examples/robot_models.py)
- Forward and inverse kinematics (examples/trimesh_scene_viewer.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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