Best 3D library to model robotic motion [closed]

Closed. This question does not meet Stack Overflow guidelines. It is not currently accepting answers.

---

We don’t allow questions seeking recommendations for books, tool开发者_JAVA百科s, software libraries, and more. You can edit the question so it can be answered with facts and citations.

Closed 4 years ago.

Improve this question

A short while I asked for suggestions on choosing a Python-compatible 3D graphics library for robotic motion modelling (using inverse kinematics in Python). After doing a bit of research and redefining my objectives I hope I can ask once again for a bit of assistance.

At the time I thought Blender was the best option - but now I'm having doubts. One key objective I have is the ability integrate the model into a custom GUI (wxPython). Seems like this might be rather difficult (and I'm unsure of the performance requirements).

I think I'm now leaning more towards OpenGL (PyOpenGL + wxglcanvas), but I'm still struggling to to determine if it's the right tool for the job. I'm more of a CAD person, so I have trouble envisioning how to draw complex objects in the API and create motion. I read I could design the object in, say Blender, then import it into OpenGL somehow, but I'm unsure of the process? And how difficult is manipulating motion of objects? For example, if I create a joint between two links, and I move one link, would the other link move dynamically according to the first, or would I need to program each link's movement independently?

Have I missed any obvious tools? I'm not looking for complete robotic modelling packages, I would like to start from scratch so I can incorporate it into my own program. For for learning more than anything. So far I've already looked into vPython, Pyglet, Panda3D, Ogre, and several professional CAD packages.

Thanks

---

There is a similar project going on that implements a robotic toolbox for matlab and python, it has "Rudimentary 3D graphics", but you can always interface it with blender with a well knit script, it will be less work than reinventing the wheel

---

If movements can be pre-computed, you can use Blender, hand-craft animations, bake them in some animated file format (cal3d ?), and just render in your wxPython OpenGL window.

If you need to handle user input, you can use a physics engine... I hear Bullet has Python bindings : http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=&f=9&t=4030 (probably still unstable).

Regarding your doubts on Blender/OpenGL : What do you mean by "complex objects" ? How many "robots/whatever" ? How many triangle per robot ? How many articulations per robot ? (I'll edit my answer depending on yours)

Anyway, OpenGL in itself won't do anything else that juste "display triangles" ; everything else has to be done eslewhere.

EDIT

Sorry for the delay, I completely forgot.

So here is what I suggest :

• Model your robot in Blender with polygons. You can easily go at >10k polygons, but try to keep the number of objects small (1 object per moving part)
• Rig it, i.e. create a skeleton for it. You don't need to animate it.
• Export as Collada or X3D
• In your own OpenGL app, reimport
• Draw your objects at the positions and orientations specified by the skeleton
• Modify the angles between the bones just as you would do with real stepper motors
• If step #5 was done right, robot should be follow the movements
• Optionally add physics ( for instance with Bullet ). The API will be similar in concept to OpenGL, and you will be able to catch objects with your robotic arm.

good luck !