# PandaRobotSim

**Repository Path**: zen_shawn/PandaRobotSim

## Basic Information

- **Project Name**: PandaRobotSim
- **Description**: A industrial robot manipulator simulator based on panda3d.
- **Primary Language**: Python
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2020-03-04
- **Last Updated**: 2023-01-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# RobotZen
A touch of zen about robotics. Very easy to use. Support robot simulation, IK/FK, trajectory, etc.

<!-- ![robotzen](./docs/robot_zen_with_ctrl_panel.png) -->
<!-- ![robotzen](./docs/robot_zen_without_ctrl_panel.png) -->
<img src="./docs/robot_zen_with_ctrl_panel.png" width="400" height="200" alignment="center">
<img src="./docs/robot_zen_without_ctrl_panel.png" width="400" height="200" alignment="center">


## Installation
- ### 1. Requirement 
  - #### python3
    Download [python](https://www.python.org/downloads/)

  - #### python packages
    In linux you may first need to install pip with   

    `sudo apt install python3-pip`   

    and then install dependent python packages with

    `python3 -m pip install panda3d scipy matplotlib`

  - #### toppra
    Install toppra to have trajectory support with:
    ```
    git clone https://gitee.com/zen_shawn/toppra.git
    cd toppra
    python3 -m pip install .
    ```    

  - #### Clone RobotZen repo
    git clone https://gitee.com/zen_shawn/RobotZen.git

## Run examples
run `python3 main.py` in your terminal

## Module Support
- [x] Simulator, based on [panda3d](https://gitee.com/zen_shawn/panda3d)
- [x] Loading urdf
- [x] Offline trajectory, based on [toppra](https://gitee.com/zen_shawn/toppra)
- [ ] Online trajectory, based on[RML](https://gitee.com/zen_shawn/RMLTypeII)
- [x] IK/FK, developping with [ModerRobotics](https://gitee.com/zen_shawn/ModernRobotics), [ikpy](https://github.com/Phylliade/ikpy)