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feat: inital version with compiling bindings
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‎.github/workflows/patch_release.yaml‎

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name: Patch Release
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on:
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workflow_dispatch:
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jobs:
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release:
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runs-on: ubuntu-latest
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permissions:
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contents: write
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name: "Bump minor version and create changelog with commitizen"
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steps:
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- name: Check out
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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token: "${{ secrets.GITHUB_TOKEN }}"
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- id: cz
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name: Create bump and changelog
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uses: commitizen-tools/commitizen-action@master
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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changelog_increment_filename: body.md
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increment: PATCH
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- name: Release
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uses: ncipollo/release-action@v1
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with:
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tag: v${{ env.REVISION }}
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bodyFile: "body.md"
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skipIfReleaseExists: true
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- name: Print Version
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run: echo "Bumped to version ${{ steps.cz.outputs.version }}"
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# TODO: create pypi source distribution

‎.github/workflows/release.yaml‎

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name: Release
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on:
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workflow_dispatch:
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jobs:
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release:
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runs-on: ubuntu-latest
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permissions:
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contents: write
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name: "Bump version and create changelog with commitizen"
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steps:
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- name: Check out
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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token: "${{ secrets.GITHUB_TOKEN }}"
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- id: cz
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name: Create bump and changelog
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uses: commitizen-tools/commitizen-action@master
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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changelog_increment_filename: body.md
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- name: Release
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uses: ncipollo/release-action@v1
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with:
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tag: v${{ env.REVISION }}
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bodyFile: "body.md"
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skipIfReleaseExists: true
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- name: Print Version
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run: echo "Bumped to version ${{ steps.cz.outputs.version }}"
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# TODO: create pypi source distribution

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(
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frankik
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LANGUAGES C CXX
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VERSION 0.1
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DESCRIPTION "Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required."
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)
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cmake_policy(SET CMP0048 NEW) # Set version in project
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# Allow target properties affecting visibility during linking in static libraries
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set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
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cmake_policy(SET CMP0135 NEW) # Use timestamp of file extraction not download
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cmake_policy(SET CMP0140 NEW) # Check return arguments
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(BUILD_SHARED_LIBS OFF)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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include(FetchContent)
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find_package(Eigen3 REQUIRED)
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find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
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FetchContent_Declare(pybind11
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GIT_REPOSITORY https://github.com/pybind/pybind11.git
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GIT_TAG v2.13.4
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GIT_PROGRESS TRUE
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EXCLUDE_FROM_ALL
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)
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FetchContent_MakeAvailable(pybind11)
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add_subdirectory(src)

‎Makefile‎

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PYSRC = src
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CPPSRC = src
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COMPILE_MODE = Release
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# CPP
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cppcheckformat:
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clang-format --dry-run -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
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cppformat:
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clang-format -Werror -i $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -o -name '*.h')
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cpplint:
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clang-tidy -p=build --warnings-as-errors='*' $(shell find ${CPPSRC} -name '*.cpp' -o -name '*.cc' -name '*.h')
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gcccompile:
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cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
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cmake --build build --target _core
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clangcompile:
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cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
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cmake --build build --target _core
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# Auto generation of CPP binding stub files
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stubgen:
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pybind11-stubgen -o src --numpy-array-use-type-var frankik
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find ./src -name '*.pyi' -print | xargs sed -i '1s/^/# ATTENTION: auto generated from C++ code, use `make stubgen` to update!\n/'
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find ./src -not -path "./src/frankik/_core.pyi" -name '*.pyi' -delete
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find ./src/frankik/_core.pyi -name '*.pyi' -print | xargs sed -i 's/tuple\[typing\.Literal\[\([0-9]\+\)\], typing\.Literal\[1\]\]/tuple\[typing\.Literal[\1]\]/g'
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find ./src/frankik/_core.pyi -name '*.pyi' -print | xargs sed -i 's/tuple\[\([M|N]\), typing\.Literal\[1\]\]/tuple\[\1\]/g'
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ruff check --fix src/frankik/_core.pyi
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isort src/frankik/_core.pyi
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black src/frankik/_core.pyi
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# Python
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pycheckformat:
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isort --check-only ${PYSRC}
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black --check ${PYSRC}
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pyformat:
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isort ${PYSRC}
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black ${PYSRC}
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pylint: ruff mypy
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ruff:
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ruff check ${PYSRC}
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mypy:
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mypy ${PYSRC} --install-types --non-interactive --no-namespace-packages --exclude 'build'
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pytest:
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pytest -vv
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bump:
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cz bump
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commit:
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cz commit
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.PHONY: cppcheckformat cppformat cpplint gcccompile clangcompile stubgen pycheckformat pyformat pylint ruff mypy pytest bump commit
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‎README.md‎

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# frankik: Fast Analytical Inverse Kinematics Python Bindings for Franka Robots
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**Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required.**
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`frankik` is a standalone Python library that implements the analytical geometric IK solver proposed by **He & Liu (2021)**. It is designed for researchers and developers who need high-performance kinematics without the overhead of ROS, MoveIt, or hardware drivers.
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## Installation from source
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```shell
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sudo apt install libeigen3-dev
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git clone https://github.com/juelg/frankik.git
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cd frankik
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pip install requirements.txt
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pip install -ve '.[dev]' --no-build-isolation
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```
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## Installation from PyPI
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Coming soon...
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## Feature List
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- [x] basic bindings from he
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- [x] support for fr3
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- [ ] nice python interface
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- [ ] tests
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- [ ] performance benchmarks
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‎pyproject.toml‎

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[build-system]
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requires = []
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build-backend = "scikit_build_core.build"
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[project]
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name = "frankik"
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version = "0.1"
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description="Blazing fast, analytical Inverse Kinematics for Franka Emika Panda and FR3 robots. Lightweight Python bindings, no ROS required."
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readme = "README.md"
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dependencies = [
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"numpy",
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]
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maintainers = [
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{ name = "Tobias Jülg", email = "tobias@juelg.net" },
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]
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authors = [
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{ name = "Tobias Jülg", email = "tobias@juelg.net" },
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]
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requires-python = ">=3.10"
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license = "MIT"
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[project.optional-dependencies]
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dev = [
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"ruff==0.3.2",
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"black==24.1.1",
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"isort==5.13.2",
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"mypy==1.10.1",
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"types-requests~=2.31",
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# temporarily use fixed version until PR #275 is merged
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# pybind11-stubgen==2.5.5
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"pybind11-stubgen @ git+https://github.com/juelg/pybind11-stubgen@fix/class-sorting",
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"pytest==8.1.1",
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"commitizen~=3.28.0",
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"clang",
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"clang-format",
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"clang-tidy",
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]
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[tool.scikit-build]
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build.verbose = true
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build.targets = ["_core"]
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logging.level = "INFO"
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build-dir = "build"
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wheel.packages = ["src/frankik"]
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install.components = ["python_package"]
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[tool.black]
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line-length = 120
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target-version = ["py311"]
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[tool.isort]
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profile = "black"
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[tool.mypy]
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ignore_missing_imports = true
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check_untyped_defs = true
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pretty = true
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[tool.pytest.ini_options]
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minversion = "6.0"
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addopts = "-vv"
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testpaths = [
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"src/tests",
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]
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[tool.commitizen]
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name = "cz_conventional_commits"
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tag_format = "v$version"
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version_scheme = "pep440"
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version_provider = "pep621"
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update_changelog_on_bump = true
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major_version_zero = true
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version_files = [
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"CMakeLists.txt:VERSION",
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"python/frankik/_core/__init__.pyi:__version__",
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]

‎requirements.txt‎

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build
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wheel
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scikit-build-core>=0.3.3
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pybind11
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cmake
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ninja

‎src/CMakeLists.txt‎

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add_subdirectory(pybind)

‎src/frankik/__init__.py‎

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from frankik._core import __version__, ik, ik_full, fk
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__all__ = ["__version__", "ik", "ik_full", "fk"]

‎src/frankik/_core.pyi‎

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# ATTENTION: auto generated from C++ code, use `make stubgen` to update!
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"""
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Python bindings for frankik IK/FK
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"""
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from __future__ import annotations
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import typing
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import numpy
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__all__: list[str] = ["fk", "ik", "ik_full"]
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def fk(
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q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
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) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]:
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"""
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Compute forward kinematics for Franka Emika Panda robot.
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Args:
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q (Vector7d): Joint angles.
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Returns:
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Eigen::Matrix<double, 4, 4>: End-effector pose.
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"""
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def ik(
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O_T_EE: numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]],
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q_actual_array: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]] = ...,
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q7: float = 0.7853981633974483,
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is_fr3: bool = False,
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) -> numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]:
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"""
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Compute one inverse kinematics solution for Franka Emika Panda robot.
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Args:
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O_T_EE (Eigen::Matrix<double, 4, 4>): Desired end-effector pose.
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q_actual_array (Vector7d, optional): Current joint angles. Defaults to kQDefault.
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q7 (double, optional): Joint 7 angle. Defaults to M_PI_4.
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is_fr3 (bool, optional): Whether to use FR3 joint limits. Defaults to false.
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Returns:
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Vector7d: One IK solution. NaN if no solution.
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"""
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def ik_full(
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O_T_EE: numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]],
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q_actual_array: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]] = ...,
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q7: float = 0.7853981633974483,
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is_fr3: bool = False,
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) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[7]], numpy.dtype[numpy.float64]]:
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"""
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Compute full inverse kinematics for Franka Emika Panda robot.
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Args:
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O_T_EE (Eigen::Matrix<double, 4, 4>): Desired end-effector pose.
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q_actual_array (Vector7d, optional): Current joint angles. Defaults to kQDefault.
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q7 (double, optional): Joint 7 angle. Defaults to M_PI_4.
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is_fr3 (bool, optional): Whether to use FR3 joint limits. Defaults to false.
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Returns:
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Eigen::Matrix<double, 4, 7>: All possible IK solutions (up to 4). NaN if no solution.
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"""
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__version__: str = "0.1"

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