PyRokiControl - Basic Inverse Kinematics Example

This project demonstrates basic inverse kinematics (IK) control of a robot end-effector using PyRoki and Viser for visualization.

Features:

• Visualizes custom URDF files or use built-in robot descriptions.
• Inverse Kinematics (IK) to control the robot's end-effector.
• Moves the end-effector along circular or linear paths using IK.
• Interactive 3D visualization of the robot using Viser.

Requirements:

• Python 3.8+
• PyRoki
• Viser
• NumPy

Install dependencies with:

pip install pyroki viser numpy

Usage:

1. Clone this repository.
2. Run the example:

python pyroki/examples/11_basic_motion.py

By default, the script moves the end-effector along a linear path. To use a circular path, uncomment the relevant section in main().

For custom URDF and IK:
python 13_custom_urdf_ik.py [--robot-type <robot_type>] [--urdf-path <path_to_custom_urdf>] [--target-link-name <link_name>]

Demo:

• Boston Dynamics - Spot

Aufzeichnung_spot_IK.mp4

• Atlas, Universal Robot, Fanuc and Custom Arm

Aufzeichnung_IK.mp4