k
: Kinematics library for rust-lang
k
has below functionalities.
- Forward kinematics
- Inverse kinematics
- URDF Loader
k
uses nalgebra as math library.
See Document and examples/ for more details.
Requirements to build examples
IK example with GUI
Push below keys to move the end of the manipulator.
f
: forwardb
: backwardp
: upn
: downl
: leftr
: rightz
: reset the manipulator state.
Create link tree from urdf and solve IK
use *;
Structure of API
Top level interface is Chain
struct. It contains Node
s and they have the relations between nodes (parent/children).
Actual data (joint angle(position), transform between nodes) is stored in Joint
object inside nodes.
You can get local/world transform of nodes. See below figure to understand what is the node's local_transform()
and world_transform()
.
OpenRR
Community
Here is a discord server for OpenRR
users and developers.