IKFast Generator | Hamza Merzić

IKFast Generator is a tool that creates blazing-fast analytic inverse kinematics solvers for your robot, powered by OpenRAVE's IKFast. Simply upload a .dae file of your robot, extract its kinematic structure, and generate a C++ solver ready for integration. For a detailed explanation of inverse kinematics, you can refer to this great reference: How Do Robot Manipulators Move?

Supported file format: .dae (max size: 32MB)

📁 Don’t have a file? Use an example

Use it with: baselink = 0, eelink = 8, solver = Transform6D, and leave free indices empty.

Link Info:

Below you should see a graph of your robot. For each link its index and parents should be shown.
(In case of error or no output at all, please check that the joint limits are defined in your robot file.)

Waiting for upload...

Solver Logs:

If everything goes correctly, the download link will appear below the logs.

Placeholder.

🐟 Prefer to run it yourself? Click here to learn to fish:

To try it locally, first download the example file above (or use your own). Then run this command in your terminal (assuming you have Docker set up):

docker run --rm \\
  -v $(pwd):/data \\
  hamzamerzic/openrave-py3 \\
  python3 -m openravepy._openravepy_.ikfast \\
    --robot /data/abb_irb52_7_120.dae \\
    --iktype transform6d \\
    --baselink 0 \\
    --eelink 8 \\
    --savefile /data/ikfast_output.cpp

✨ This tool was modernized from my earlier WordPress website.
If you notice any regressions or bugs, please reach out or comment below—I’d love to hear from you.