RobotZen

A touch of zen about robotics. Very easy to use. Support robot simulation, IK/FK, trajectory, etc.

Run

• Clone RobotZen repo

  git clone https://gitee.com/zen_shawn/RobotZen.git

• create a new virtual environment with uv

  uv venv --python 3.12 uv pip install -r requirements.txt

• cd to the repo directory and run uv run main.py，you can open some sample robot models in Models Folder

Module Support

• Simulator, based on vtk
• Loading urdf, mesh, point clouds
• Offline trajectory, based on toppra
• IK/FK, developping with ModerRobotics, ikpy

Note

This toy project was developed many years ago, and the code is not clean. Don't expect too much from it.