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

Documentation | Installation | Quick Start | Python API | Contribute

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.

Create Your Own Robot Model (URDF)

If you want to build your own robot from scratch, you can refer to the How to Create URDF from CAD Software documentation.

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)