Kinematic-Tree-IK-Solver

This repository provides two implementations of inverse kinematics solver for any generic kinematic tree given the URDF. The first implementation is done with pyDrake and the second implementation is done with Pinocchio + SciPy.

Installing Dependencies

PyDrake Implementation:

Pip Dependencies:

meshcat: Provides a remotely-controllable 3D viewer

numpy: Library for scientific computing

Installing pyDrake:

pydrake contains python bindings which encompass a subset of the original Drake C++ functionality. This cannot be installed with pip. Various methods of installing drake are provided here.

Pinocchio + SciPy Implementation:

Conda Dependencies:

Pinocchio: Provides URDF parser and forward kinematics functions

SciPy: Provides SLSQP optimizer.