Crate k

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§k: Kinematics library for rust-lang

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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.

§Requirements to build examples

sudo apt install g++ cmake xorg-dev libglu1-mesa-dev

§IK example with GUI

cargo run --release --example interactive_ik

ik_sample

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.
use k::prelude::*;

fn main() {
    // Load urdf file
    let chain = k::Chain::<f32>::from_urdf_file("urdf/sample.urdf").unwrap();
    println!("chain: {chain}");

    // Set initial joint angles
    let angles = vec![0.2, 0.2, 0.0, -1.0, 0.0, 0.0, 0.2, 0.2, 0.0, -1.0, 0.0, 0.0];

    chain.set_joint_positions(&angles).unwrap();
    println!("initial angles={:?}", chain.joint_positions());

    let target_link = chain.find("l_wrist_pitch").unwrap();

    // Get the transform of the end of the manipulator (forward kinematics)
    chain.update_transforms();
    let mut target = target_link.world_transform().unwrap();

    println!("initial target pos = {}", target.translation);
    println!("move z: +0.1");
    target.translation.vector.z += 0.1;

    // Create IK solver with default settings
    let solver = k::JacobianIkSolver::default();

    // Create a set of joints from end joint
    let arm = k::SerialChain::from_end(target_link);
    // solve and move the manipulator angles
    solver.solve(&arm, &target).unwrap();
    println!("solved angles={:?}", chain.joint_positions());

    chain.update_transforms();
    let solved_pose = target_link.world_transform().unwrap();
    println!("solved target pos = {}", solved_pose.translation);
}

§Structure of API

Top level interface is Chain struct. It contains Nodes and they have the relations between nodes (parent/children). Actual data (joint angle(position), transform between nodes) is stored in Joint object inside nodes.

ik_sample

You can get local/world transform of nodes. See below figure to understand what is the node’s local_transform() and world_transform().

ik_sample

§OpenRR Community

Here is a discord server for OpenRR users and developers.

Re-exports§

Modules§

  • Iterators to iterate descendants and ancestors
  • Joint related structs
  • link can be used to show the shape of the robot, or collision checking libraries.
  • graph structure for kinematic chain
  • Load basic traits of k
  • Load URDF format and create k::Chain

Macros§

Structs§

  • Kinematic Chain using Node
  • A bundle of flags determining which coordinates are constrained for a target
  • Inverse Kinematics Solver using Jacobian matrix
  • Kinematic chain without any branch.

Enums§

  • The reason of joint error

Traits§

Functions§