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ZenShawn / RobotZenOld

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README.md

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

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A easy to use robot simulator based on Qt+Vtk, as well as kinematics, motion planning, etc. spread retract
MulanPSL-1.0
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