Robot kinematics (and eventually dynamics) written in Python 3.
Install dependencies through poetry.
poetry install
python -m robot
python -m unittest
For example, to run only the TestIntersection test class:
python -m unittest -v test.spatial.test_intersection.TestIntersection
The visualization contains a relatively feature-full, CAD style camera.
See robot/common/bindings.py for all keyboard and mouse bindings.
- Middle Mouse Drag: Orbit
- Ctrl + Middle Mouse Drag: Track
- Alt + Middle Mouse Drag: Roll
- Shift + Middle Mouse Drag: Scale
- ←: Orbit Left
- →: Orbit Right
- ↑: Orbit Up
- ↓: Orbit Down
- Ctrl + ←: Track Right
- Ctrl + →: Track Left
- Ctrl + ↑: Track Down
- Ctrl + ↓: Track Up
- Alt + ←: Roll Counter Clockwise
- Alt + →: Roll Clockwise
- Z: Scale In
- Shift + Z: Scale Out
- Ctrl + 1: Front View
- Ctrl + 2: Back View
- Ctrl + 3: Left View
- Ctrl + 4: Right View
- Ctrl + 5: Top View
- Ctrl + 6: Bottom View
- Ctrl + 7: Isometric View
- Space: Pause Animation
- F: Fit Scene
- O: Orbit Toggle (Free, Constrained)
- P: Projection Toggle (Orthographic, Perspective)
This project is licensed under the MIT License. Please see LICENSE for details.