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Description:

pyfabrik 0.4.0

pyfabrik

Python 3 implementation of
FABRIK (Forward And
Backward Reaching Inverse Kinematics).
Installation
pip install pyfabrik

Usage
NOTE: API is still very unstable (until the 1.0 release). Suggestions are welcome.
import pyfabrik
from vectormath import Vector3

initial_joint_positions = [Vector3(0, 0, 0), Vector3(10, 0, 0), Vector3(20, 0, 0)]
tolerance = 0.01

# Initialize the Fabrik class (Fabrik, Fabrik2D or Fabrik3D)
fab = pyfabrik.Fabrik3D(initial_joint_positions, tolerance)

fab.move_to(Vector3(20, 0, 0))
fab.angles_deg # Holds [0.0, 0.0, 0.0]

fab.move_to(Vector3(60, 60, 0)) # Return 249 as number of iterations executed
fab.angles_deg # Holds [43.187653094161064, 3.622882738369357, 0.0]

Goal

Roadmap

Basic 2D (flat chain)
Basic 3D (flat chain)
3D testing sandbox
Basic 2D joint movement restrictions
Basic 3D joint movement restrictions
Complex chain support 2D
Complex chain support 3D

Contributing
All contributions are appreciated.
Read the paper paper.
FABRIKs homepage has links to other implementations.
License
MIT License
Copyright (c) 2020 Saša Savić
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.