Inverse Kinematics Engine

A work-in-progress implementation of a basic inverse kinematics engine

About The Project

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Getting Started

Prerequisites

ik requires the following third-party libraries in order to be built and installed.

• Pinocchio - for kinodynamic calculations such as frame placements and inverse kinematics
• CasADi - for representing and solving optimisation problems with freely available solvers

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Installing Prerequisites Through Robotpkg

If packages were previously installed via other methods, Simply remove the pinocchio package from ROS (sudo apt remove ros-humble-pinocchio). I would also recommend removing CasADi from the system if downloaded, which can be done by deleting the /usr/local/lib & /usr/local/include files.

Install

1. Install the robotpkg packages using the following commands:

   sudo apt install -qqy lsb-release curl && \
   sudo mkdir -p /etc/apt/keyrings && \
   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc \
   | sudo tee /etc/apt/keyrings/robotpkg.asc >/dev/null && \
   echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" \
   | sudo tee /etc/apt/sources.list.d/robotpkg.list >/dev/null && \
   sudo apt update && \
   sudo apt install -qqy robotpkg-py3*-pinocchio robotpkg-py3*-casadi robotpkg-py3*-example-robot-data

2. Update your .bashrc with the following lines:

   export PATH=/opt/openrobots/bin:$PATH
   export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
   export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY
   export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH
   export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH

Uninstall

1. Remove the /opt/openrobots folder from the system files.
2. Remove the recently added lines from .bashrc.
3. Reinstall Pinocchio via ROS and CasADi via the traditional method.

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Installation

1. Clone the repo

   git clone https://github.com/dazzmo/ik

2. Build the library

   cd ik
   mkdir build && cd build
   cmake ..
   make

3. Installation of the library can then be performed by

   make install

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License

Distributed under the GNU LESSER GENERAL PUBLIC LICENSE License. See LICENSE.txt for more information.

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Contact

Damian Abood - damian.abood@sydney.edu.au

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Acknowledgements

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