# scikit-robot: A Flexible Framework for Robot visualization and programming in Python
[](https://github.com/iory/scikit-robot/actions)
<h4>
<a href="https://scikit-robot.readthedocs.io/en/latest/">Documentation</a> |
<a href="https://scikit-robot.readthedocs.io/en/latest/install/index.html">Installation</a> |
<a href="https://scikit-robot.readthedocs.io/en/latest/examples/index.html">Quick Start</a> |
<a href="https://scikit-robot.readthedocs.io/en/latest/reference/index.html">Python API</a> |
<a href="https://scikit-robot.readthedocs.io/en/latest/development/index.html">Contribute</a>
</h4>
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:
```bash
sudo apt-get update
sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev
```
Then,
```bash
pip install scikit-robot
```
If you would like to use `Pybullet Interface`, `open3d` and `fast-simplification` for mesh simplification,
```bash
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:
```bash
visualize-urdf ~/.skrobot/pr2_description/pr2.urdf
```
If you experience performance issues with the default viewer, try pyrender for smoother visualization:
```bash
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](https://scikit-robot.readthedocs.io/en/latest/reference/how_to_create_urdf_from_cad.html) documentation.
## Features
- [x] Loading robot model from URDF ([examples/robot_models.py](examples/robot_models.py))
- [x] Forward and inverse kinematics ([examples/trimesh_scene_viewer.py](examples/trimesh_scene_viewer.py) [examples/pr2_inverse_kinematics.py](examples/pr2_inverse_kinematics.py))
- [x] Collision detection
- [x] Interactive viewer ([examples/trimesh_scene_viewer.py](examples/trimesh_scene_viewer.py))
- [x] Pybullet and ROS command interface ([examples/pybullet_robot_interface.py](examples/pybullet_robot_interface.py))
- [x] Forward and inverse dynamics
- [x] Path planning ([examples/collision_free_trajectory.py](examples/collision_free_trajectory.py))
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"description": "# scikit-robot: A Flexible Framework for Robot visualization and programming in Python\n\n\n[](https://github.com/iory/scikit-robot/actions)\n\n\n<h4>\n <a href=\"https://scikit-robot.readthedocs.io/en/latest/\">Documentation</a> |\n <a href=\"https://scikit-robot.readthedocs.io/en/latest/install/index.html\">Installation</a> |\n <a href=\"https://scikit-robot.readthedocs.io/en/latest/examples/index.html\">Quick Start</a> |\n <a href=\"https://scikit-robot.readthedocs.io/en/latest/reference/index.html\">Python API</a> |\n <a href=\"https://scikit-robot.readthedocs.io/en/latest/development/index.html\">Contribute</a>\n</h4>\n\nScikit-Robot is a lightweight pure-Python library for robotic kinematics,\nmotion planning, visualization and control.\n\n## Installation\nYou may need to install some dependencies by apt-get install:\n```bash\nsudo apt-get update\nsudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev\n```\n\nThen,\n```bash\npip install scikit-robot\n```\n\nIf you would like to use `Pybullet Interface`, `open3d` and `fast-simplification` for mesh simplification,\n\n```bash\npip install scikit-robot[all]\n```\n\n## Command Line Tools\n\n### Visualize URDF\n\nTo visualize a URDF model and inspect your robot's configuration, you can use the `visualize-urdf` command as follows:\n\n```bash\nvisualize-urdf ~/.skrobot/pr2_description/pr2.urdf\n```\n\nIf you experience performance issues with the default viewer, try pyrender for smoother visualization:\n\n```bash\nvisualize-urdf ~/.skrobot/pr2_description/pr2.urdf --viewer pyrender\n```\n\nRunning these commands should open a viewer displaying your robot\u2019s 3D model. Below is a sample image of what you should expect.\n\n\n\n## Create Your Own Robot Model (URDF)\n\nIf you want to build your own robot from scratch, you can refer to the [How to Create URDF from CAD Software](https://scikit-robot.readthedocs.io/en/latest/reference/how_to_create_urdf_from_cad.html) documentation.\n\n\n\n\n## Features\n\n- [x] Loading robot model from URDF ([examples/robot_models.py](examples/robot_models.py))\n- [x] Forward and inverse kinematics ([examples/trimesh_scene_viewer.py](examples/trimesh_scene_viewer.py) [examples/pr2_inverse_kinematics.py](examples/pr2_inverse_kinematics.py))\n- [x] Collision detection\n- [x] Interactive viewer ([examples/trimesh_scene_viewer.py](examples/trimesh_scene_viewer.py))\n- [x] Pybullet and ROS command interface ([examples/pybullet_robot_interface.py](examples/pybullet_robot_interface.py))\n- [x] Forward and inverse dynamics\n- [x] Path planning ([examples/collision_free_trajectory.py](examples/collision_free_trajectory.py))\n",
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