scikit-robot: A Flexible Framework for Robot visualization and programming in Python

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Scikit-Robot is a lightweight pure-Python library for robotic kinematics, motion planning, visualization and control.

Installation

You may need to install some dependencies by apt-get install:

sudo apt-get update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev

Then,

pip install scikit-robot

If you would like to use Pybullet Interface, open3d and fast-simplification for mesh simplification,

pip install scikit-robot[all]

Command Line Tools

Visualize URDF

To visualize a URDF model and inspect your robot's configuration, you can use the visualize-urdf command as follows:

visualize-urdf ~/.skrobot/pr2_description/pr2.urdf

If you experience performance issues with the default viewer, try pyrender for smoother visualization:

visualize-urdf ~/.skrobot/pr2_description/pr2.urdf --viewer pyrender

Running these commands should open a viewer displaying your robot’s 3D model. Below is a sample image of what you should expect.

Features

• Loading robot model from URDF (examples/robot_models.py)
• Forward and inverse kinematics (examples/trimesh_scene_viewer.py)
• Collision detection
• Interactive viewer (examples/trimesh_scene_viewer.py)
• Pybullet and ROS command interface (examples/pybullet_robot_interface.py)
• Forward and inverse dynamics
• Path planning (examples/collision_free_trajectory.py)