# scikit-robot

**Repository Path**: jiaojianjun-com/scikit-robot

## Basic Information

- **Project Name**: scikit-robot
- **Description**: Python 中机器人控制的灵活框架
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-11-30
- **Last Updated**: 2023-11-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# scikit-robot: A Flexible Framework for Robot Control in Python

[![Build Status](https://github.com/iory/scikit-robot/workflows/Run%20Tests/badge.svg?branch=master)](https://github.com/iory/scikit-robot/actions)


<h4>
    <a href="https://scikit-robot.readthedocs.io/en/latest/">Documentation</a> |
    <a href="https://scikit-robot.readthedocs.io/en/latest/install/index.html">Installation</a> |
    <a href="https://scikit-robot.readthedocs.io/en/latest/examples/index.html">Quick Start</a> |
    <a href="https://scikit-robot.readthedocs.io/en/latest/reference/index.html">Python API</a> |
    <a href="https://scikit-robot.readthedocs.io/en/latest/development/index.html">Contribute</a>
</h4>

Scikit-Robot is a lightweight pure-Python library for robotic kinematics,
motion planning, visualization and control.

## Installation
You may need to install some dependencies by apt-get install:
```bash
sudo apt-get update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev
```

Then,
```bash
pip install scikit-robot
```

If you would like to use `Pybullet Interface` and `open3d` for mesh simplification,

```bash
pip install scikit-robot[all]
```

## Features

- [x] Loading robot model from URDF ([examples/robot_models.py](examples/robot_models.py))
- [x] Forward and inverse kinematics ([examples/trimesh_scene_viewer.py](examples/trimesh_scene_viewer.py))
- [x] Collision detection
- [x] Interactive viewer ([examples/trimesh_scene_viewer.py](examples/trimesh_scene_viewer.py))
- [x] Pybullet and ROS command interface ([examples/pybullet_robot_interface.py](examples/pybullet_robot_interface.py))
- [ ] Forward and inverse dynamics
- [x] Path planning ([examples/collision_free_trajectory.py](examples/collision_free_trajectory.py))