Scikit-Robot is a lightweight pure-Python library for robotic kinematics, motion planning, visualization and control.
You may need to install some dependencies by apt-get install:
sudo apt-get update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-devThen,
pip install scikit-robotIf you would like to use Pybullet Interface, open3d and fast-simplification for mesh simplification,
pip install scikit-robot[all]To visualize a URDF model and inspect your robot's configuration, you can use the visualize-urdf command as follows:
visualize-urdf ~/.skrobot/pr2_description/pr2.urdfIf you experience performance issues with the default viewer, try pyrender for smoother visualization:
visualize-urdf ~/.skrobot/pr2_description/pr2.urdf --viewer pyrenderRunning these commands should open a viewer displaying your robot’s 3D model. Below is a sample image of what you should expect.
- Loading robot model from URDF (examples/robot_models.py)
- Forward and inverse kinematics (examples/trimesh_scene_viewer.py)
- Collision detection
- Interactive viewer (examples/trimesh_scene_viewer.py)
- Pybullet and ROS command interface (examples/pybullet_robot_interface.py)
- Forward and inverse dynamics
- Path planning (examples/collision_free_trajectory.py)