RobotZen

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

Installation

• 1. Requirement

  • python3

    Download python

  • 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 vtk scipy PyQt5

  • 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

• Simulator, based on vtk
• Loading urdf, mesh, point clouds
• Offline trajectory, based on toppra
• Online trajectory, based onRML
• IK/FK, developping with ModerRobotics, ikpy