rs-opw-kinematics is a Rust implementation of inverse and forward kinematic solutions for six-axis industrial robots. It can compute robot joint positions from a 3D pose (using nalgebra::Isometry3), check for potential self-collisions or collisions with environmental objects (using parry3d with acceleration from rayon), and offers a simple GUI (via Bevy) to visualize and manipulate the robot configuration. This is particularly useful for verifying correct setup. The library supports basic robotics requirements, such as attaching a tool (where the pose then becomes that of the tool) and positioning the robot on a movable and rotatable base for flexible world placement. It is entirely open-source under the permissive BSD 3-Clause license.
As an open-source library, feedback on the API would be highly valuable. Could we leverage the community's Rust expertise to gain insights on possible improvements?
I'm also open to ideas for realistic expansions that could make the project more robust and versatile. Although it may be a lot to ask for a review of the entire internal structure, any suggestions for improvement would be very welcome.
The project page is GitHub - bourumir-wyngs/rs-opw-kinematics: Rust implementation of inverse and forward kinematic solutions for six-axis industrial robots with a parallel base and spherical wrist.
