This Rust package is not registered on crates.io. If you want to install this, you will need to install it from this repo with either
cargo install --git https://github.com/kpwelsh/RobotIKBase.git
to install it locally, or by adding
[dependencies]
robot_ik_base = {git = "https://github.com/kpwelsh/RobotIKBase.git" }
to your Cargo.toml file to add it as a dependency. (Note that specifying remote git dependencies will prevent you from publishing your package)
This package exposes a single interface intended to solve the robot arm inverse kinematics problem via non-linear optimization. For details on the mathematical approach and implementation, see RobotIKBase.
The IKSolver interface makes use of both the k library for kinematics and the OptimizationEngine non-linear optimizer to provide a simple interface for determining the necessary joint angles for a robot arm to reach a certain end-effector pose. There is some support for self-collision avoidance, but you may need to modify the cost function code yourself to achieve decent outcomes.
The following example can be found as a library test case.
// Create a solver instance from a URDF file
let mut solver = IKSolver::from_urdf_fp("test/test.urdf");
// Set the desired end-effector frame (k only likes this to be joints)
solver.set_ee("panda_joint8");
// Pick some pose to achieve.
// This methods works fine for a generic test pose,
// but you will probably have an external pose source.
let q = solver.arm.as_ref().unwrap().joint_positions();
solver.arm.as_ref().unwrap().set_joint_positions_clamped(&q);
let pose = solver.arm.as_ref().unwrap().end_transform();
let mut q = solver.arm.as_ref().unwrap().joint_positions();
q[1] += 0.5;
// Ask it to solve the IK.
let result = solver.solve(&q, &pose);
assert!(result.is_ok());
// Here we just double check that it found an OK answer.
solver.arm.as_ref().unwrap().set_joint_positions(&result.unwrap()).unwrap();
let found_pose = solver.arm.as_ref().unwrap().end_transform();
assert!((found_pose.translation.vector - pose.translation.vector).magnitude() <= 1e-4);