k: Kinematics library for rust-lang

k has below functionalities.

1. Forward kinematics
2. Inverse kinematics
3. URDF Loader

k uses nalgebra as math library.

See Document and examples/ for more details.

IK example with GUI

bash cargo run --release --example interactive_ik

Push below keys to move the end of the manipulator.

• f: forward
• b: backward
• p: up
• n: down
• l: left
• r: right
• z: reset the manipulator state.

Create link tree from urdf and solve IK

```rust extern crate k;

use k::InverseKinematicsSolver; use k::JointContainer; use k::KinematicChain; use k::ChainContainer; use k::urdf::FromUrdf;

fn main() { let robot = k::LinkTree::fromurdffile::("urdf/sample.urdf").unwrap(); let mut arm = robot.newchain("lwrist2").unwrap(); // set joint angles let angles = vec![0.8, 0.2, 0.0, -1.5, 0.0, -0.3]; arm.setjointangles(&angles).unwrap(); println!("initial angles={:?}", arm.jointangles()); // get the transform of the end of the manipulator (forward kinematics) let mut target = arm.endtransform(); println!("initial target pos = {}", target.translation); println!("move z: +0.2"); target.translation.vector[2] += 0.2; let solver = k::JacobianIKSolverBuilder::new().finalize(); // solve and move the manipulator angles solver.solve(&mut arm, &target).unwraporelse(|err| { println!("Err: {}", err); 0.0f32 }); println!("solved angles={:?}", arm.jointangles()); println!( "solved target pos = {}", arm.endtransform().translation ); } ```