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ModernRobotics

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Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

파일 탐색기

최종 버전 다운로드 (.zip)

- MRlib.pdf
- MRlib.tex
- - ModernRobotics.m
  - README.md
- - README.md
- - README.md
  - setup.py
.gitignore
LICENSE
README.md

# 설치 가이드

1. 코드 내려받기

git clone https://github.com/NxRLab/ModernRobotics

깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.

cd ModernRobotics

방금 내려받은 프로젝트 폴더 안으로 이동합니다.

2. Python

쉬움 추천

사전 준비물

Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
Python 3 설치 시 'Add Python to PATH' 옵션을 꼭 체크하세요 (Windows).

⚠️ 이 프로젝트는 규모가 큰 저장소라, 이 방법이 실제 핵심 제품이 아니라 내부 하위 패키지를 가리키는 것일 수 있습니다. README 전체를 함께 확인해보세요.

pip install .

PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.

python <실행할 파일명>.py # README에서 정확한 실행 파일명을 확인하세요

파이썬 스크립트(또는 모듈)를 실행합니다.

✅ 에러 메시지 없이 실행되고 터미널에 안내 문구가 출력되면 정상입니다.

// repository documentation

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# Modern Robotics:  Mechanics, Planning, and Control
# Code Library

This repository contains the code library accompanying [_Modern Robotics: 
Mechanics, Planning, and Control_](http://modernrobotics.org) (Kevin Lynch 
and Frank Park, Cambridge University Press 2017). The 
[user manual](/doc/MRlib.pdf) is in the doc directory.

The functions are available in:

* Python
* MATLAB
* Mathematica

Each function has a commented section above it explaining the inputs required for its use as well as an example of how it can be used and what the output will be. This repository also contains a pdf document that provides an overview of the available functions using MATLAB syntax. Functions are organized according to the chapter in which they are introduced in the book. Basic functions, such as functions to calculate the magnitude of a vector, normalize a vector, test if the value is near zero, and perform matrix operations such as multiplication and inverses, are not documented here.

The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.

Some unofficial versions in other languages are being developed:
* [C++ version](https://github.com/Le0nX/ModernRoboticsCpp)
* [Julia version](https://github.com/ferrolho/ModernRoboticsBook.jl)
* [Nim version](https://github.com/Nimbotics/ModernRoboticsNim)
* [Python version using PyTorch](https://github.com/Agaggar/PyTorch_MR/tree/master/packages/Python/modern_robotics/pytorch_mr)
* [Rust version](https://crates.io/crates/modern_robotics_rust)

Some libraries built on ours:
* [KinematicsFromDescriptionTool](https://github.com/Interbotix/kinematics_from_description), which calculates the kinematics input parameters from a robot's URDF or robot_description parameter using ROS and Python3.
* [mr_urdf_loader](https://github.com/tjdalsckd/mr_urdf_loader), which generates `M`, `Slist`, `Blist`, `Mlist` and `Glist` parameters for kinematics and dynamics. It also provides UR5 simulation using `PyBullet`.
* [tf_rbdl](https://github.com/junhyeokahn/tf_rbdl#tf_rbdl), which refactors the Python version using the package `tensorflow`.

Any contribution is welcomed but the maintenance team for this library here doesn't vouch for the reliability of those projects.