Standalone Inverse Kinematics Library

asked 2020-07-07 14:19:45 -0500

a_ppp
1 ●1 ●1 ●1

I have gotten the different IK libraries available with ROS to work, but I am currently looking for an inverse kinematics library, preferably in Python or C++ that could work without ROS, catkin, etc... I have looked at Trac_IK and they seem to propose a solution but I am confused on how this works. I need this to be separate from ROS library since it is a requirement for it to work on multiple different platforms, and must work with other tools. Any suggestions are greatly appreciated.

edit retag flag offensive close merge delete

add a comment

0

answered 2020-12-30 17:02:33 -0500

gonzalocasas
180 ●3 ●13 ●13

One option would be to use COMPAS FAB for that (disclaimer: i'm one of its maintainers). It has different backends (ROS among them), but if you only need FK/IK, you can use the pybullet backend. You can check an example snippet here.

edit flag offensive delete link

Comments

Thanks for the answer. I'd come to the same conclusion as you and have been using pybullet which works remarkably well. I'll checkout COMPAS FAB as well.

a_ppp ( 2020-12-30 17:07:41 -0500 )edit

add a comment

0

answered 2020-07-11 14:16:26 -0500

luc.ac

26 ●3 ●3

First, an option to continue with ROS and work on multiple platforms is migrate to ROS 2 that has support on Windows, macOS and Linux. There is MoveIt2 Framework that is updated to ROS 2.

But, if you still want an standalone library, I already use IKPY and find it usefull.

I'm not a moderator, but maybe this question could be more appropriate in an robotics forum like Robot Forum.

edit flag offensive delete link

add a comment

Standalone Inverse Kinematics Library

2 Answers

Comments

Question Tools

Stats

Related questions

Standalone Inverse Kinematics Library edit

2 Answers

Comments

Question Tools

Stats

Related questions

Standalone Inverse Kinematics Library