Standalone Inverse Kinematics Library

asked 2020-07-07 14:19:45 -0600

a_ppp
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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.

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answered 2020-07-11 14:16:26 -0600

luc.ac

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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.

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answered 2020-12-30 17:02:33 -0600

gonzalocasas
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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.

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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 -0600 )edit

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