This is the readme file of the Python ILK-Generator tool.
The ILK-Generator takes a robot model and a user query and generates an imperative model of the solver requested in the query, such as a forward position kinematics algorithm.
The solver model can then be compiled (by the companion tool ILK-Compiler) into actual code.
The ILK-Compiler requires Python 3.
Make sure the robot-model tools are in your PYTHONPATH, and install the other
dependencies (e.g. via pip3 install).
Then, run the tool from this folder with:
./ilkgen.py --help
Sample robot models working with the tool are available in the robot-model tools
repository (see dependencies above). A sample query is available in
sample/queries/. For example:
./ilkgen.py --urdf <robot-model tools root>/sample/models/ur5/ur5.urdf
--query sample/queries/ur5-simple.yaml --output-dir /tmp/ilkgen/ur5