Piper IK Test

A Jupyter notebook project for robot kinematics using Pinocchio.

Project Structure

piper-ik-test/
├── notebooks/              # Jupyter notebooks
│   ├── 01_example.ipynb   # Basic data analysis example
│   └── 02_pinocchio_example.ipynb  # Robot kinematics example
├── piper_ik_test/         # Main package directory
│   └── __init__.py
├── tests/                 # Test directory
├── data/                  # Data directory
├── pyproject.toml         # Project configuration and dependencies
└── README.md

Setup

1. Create a virtual environment (recommended):

python -m venv venv
source venv/bin/activate  # On Windows: venv\Scripts\activate

2. Install the package in development mode:

pip install -e ".[dev]"  # Install with development dependencies

3. Launch Jupyter Notebook:

jupyter notebook

Development

This project uses modern Python packaging with pyproject.toml. Key features:

• Dependency Management: All dependencies are specified in pyproject.toml
• Development Tools: Includes development dependencies for testing and code quality
  • pytest for testing
  • black for code formatting
  • isort for import sorting
  • flake8 for linting

Development Commands

# Format code
black .
isort .

# Run tests
pytest

# Run linter
flake8

Getting Started

1. Open notebooks/01_example.ipynb to see a basic data analysis example
2. Open notebooks/02_pinocchio_example.ipynb to see robot kinematics examples using Pinocchio
3. Create new notebooks in the notebooks/ directory
4. Store your datasets in the data/ directory

Pinocchio Library

This project includes the Pinocchio library for robot kinematics and dynamics. The example notebook demonstrates:

• Creating a simple robot model
• Computing forward kinematics
• Visualizing robot configurations

For more information about Pinocchio, visit: https://github.com/stack-of-tasks/pinocchio