k: Kinematics library for rust-lang

k has below functionalities.

1. Forward kinematics
2. Inverse kinematics
3. URDF Loader

k uses nalgebra as math library.

See Document and examples/ for more details.

IK example with GUI

cargo run --release --example interactive_ik

Push below keys to move the end of the manipulator.

• f: forward
• b: backward
• p: up
• n: down
• l: left
• r: right
• z: reset the manipulator state.

Create link tree from urdf and solve IK

extern crate k;

use k::InverseKinematicsSolver;
use k::JointContainer;
use k::KinematicChain;
use k::ChainContainer;
use k::urdf::FromUrdf;

fn main() {
    let robot = k::LinkTree::from_urdf_file::<f32, _>("urdf/sample.urdf").unwrap();
    let mut arm = robot.new_chain("l_wrist2").unwrap();
    // set joint angles
    let angles = vec![0.8, 0.2, 0.0, -1.5, 0.0, -0.3];
    arm.set_joint_angles(&angles).unwrap();
    println!("initial angles={:?}", arm.joint_angles());
    // get the transform of the end of the manipulator (forward kinematics)
    let mut target = arm.end_transform();
    println!("initial target pos = {}", target.translation);
    println!("move z: +0.2");
    target.translation.vector[2] += 0.2;
    let solver = k::JacobianIKSolverBuilder::new().finalize();
    // solve and move the manipulator angles
    solver.solve(&mut arm, &target).unwrap_or_else(|err| {
        println!("Err: {}", err);
        0.0f32
    });
    println!("solved angles={:?}", arm.joint_angles());
    println!(
        "solved target pos = {}",
        arm.end_transform().translation
    );
}