FASER Interfaces is a general toolkit for functions used elswehere in other related repositories, and feautres tm: a transformation library, FASER: a catchall repository for useful functions, and Faser High Performance, an extension of Modern Robotics's robotics toolkit.
Simply clone the repository
Python Dependencies:
pip install numpy
pip install scipy
pip install modern_robotics
pip install numba
Other Dependencies: Install on the same folder level as the kinematics repository
git clone https://github.com/64-B1T/modern_robotics_numba.gitOr, if you are working on a repository featuring these, you can add them as submodules instead.
- Abstracted handling and display of transformation matrices.
- Fully overloaded operators for addition, multiplication, etc
- Generate transforms from a variety of input types
- Easily extract positions and rotations in a variety of formats
- Provides kinematic extensions to the faser_robotics_kinematics library
- Accelerated with Numba, and extends Modern Robotics.
- Catchall functions for manipulation of data elsewhere in FASER system
- Simple trajectory generation
- Position interpolation
Detailed Usage TBD
Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.