User Guide

Quickstart

Try it without installing

Run this to start the interactive IK gallery:

shell

uvx --from robokit python -m robokit.gallery.ik

Drag targets, switch robots, and adjust weights. Replace ik with any gallery below.


`ik` Drag targets and tune IK weights.	`ik_legged` Balance humanoids and quadrupeds.	`motion_plan` Plan motions around obstacles.


`humanoid_retargeting` Retarget human motion to humanoids.	`humanoid_retargeting_contact` Retarget humanoids with object contacts.	`hand_retargeting_contact` Retarget hands with object contacts.


`hand_retargeting` Retarget hands onto any base, online or offline.	`robot_models` Browse robots, collision spheres, and frames.	`full_body_retargeting` Retarget whole-body human-object interaction.

Solve one IK problem

After installing, this is the whole program:

python

from robot_descriptions.loaders.yourdfpy import load_robot_description

from robokit.helpers.ik import IKSolver, presets
from robokit.robo import Robot

robot = Robot.load(load_robot_description("panda_description"))
ik = IKSolver(presets.basic, robot=robot, target_links="panda_hand")

T_world_target = [0.5, 0.2, 0.5, 0.0, 0.0, 1.0, 0.0]  # x, y, z, qw, qx, qy, qz
state = ik.solve_numpy(T_world_target)
print(state.q.numpy()[0])  # joint positions

IK uses the GPU when one is visible, else the CPU.

More examples

Galleries are interactive demos. For code to copy, open a runnable script below. Paths are relative to src/robokit/examples.

Directory	Scripts
`ik`	`01_basic.py`, `02_smooth.py`, `03_batch.py`, `04_torch.py`, `05_bimanual.py`, `06_mobile.py`, `07_mimic_joints.py`, `08_collision.py`, `09_self_collision.py`, `10_humanoid.py`, `11_manipulability.py`, `12_heterogeneous_collision.py`
`motion_plan`	`01_online_mppi.py`, `02_offline_lbfgs.py`, `03_offline_batch.py`, `04_online_lbfgs.py`, `05_q_goal.py`, `06_heterogeneous.py`
`humanoid_retargeting`	`01_online.py`, `02_collision.py`, `03_self_collision.py`, `04_offline.py`, `05_batch.py`, `06_online_batch.py`, `07_contact.py`, `08_terrain.py`, `09_alignment.py`, `10_full_body.py`, `11_full_body_batch.py`
`hand_retargeting`	`01_online.py`, `02_offline.py`, `03_batch.py`, `04_arm.py`, `05_online_batch.py`, `06_contact.py`, `07_batch_contact.py`
`hand_eye_calibration`	`01_sim_rgb.py`, `02_sim_mounted.py`, `03_sim_depth.py`, `04_real_xarm.py`, `05_sim_offsets.py`, `06_sim_qpos.py`
`grasp`	`01_basic.py`, `02_annealed_gd.py`
`geom`	`01_basic.py`, `02_robot.py`, `03_heterogeneous_batch.py`, `04_lod.py`
`opt`	`01_rosenbrock.py`, `02_solvers.py`, `03_multi_candidate.py`, `04_curve_fit.py`, `05_mpc_pendulum.py`, `06_mpc_navigation.py`, `07_ilqr_pendulum.py`
`sim_mpc`	`01_sharpa_oakink.py`, `02_xhand_arctic.py`, `03_g1_climb.py`, `04_g1_carry.py`, `05_g1_amass.py`, `06_leap_cube.py`, `07_sharpa_pen.py`, `08_sharpa_coin.py`, `09_sharpa_cap.py`, `10_wuji_cube.py`, `11_h1_jog.py`, `12_go2_jump.py`, `13_fr3_push.py`, `14_fr3_balance.py`, `15_batch.py`, `16_demo_repair.py`, `18_g1_flip.py`

Example usage:

shell

uv run src/robokit/examples/ik/01_basic.py

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