dynibo
Python bindings for the dynibo tree-structured robot kinematics and dynamics
library. The wheel bundles the Rust native library and has no runtime Python
dependencies.
from dynibo import Robot
with Robot.from_urdf("robot.urdf") as robot:
tool = robot.link_id("tool")
q = [0.0] * robot.joint_count
pose = robot.forward_kinematics(q, tool)
jacobian = robot.jacobian(q, tool)
gravity = robot.gravity(q)
velocity_forces = robot.velocity_product_forces(q, [0.0] * robot.joint_count)
The Jacobian is a flat column-major 6 x N tuple. With NumPy, convert it using
np.asarray(jacobian).reshape((6, robot.generalized_count), order="F").
The root pose and floating-base motion are stored on Robot and are used
consistently by every calculation. Use set_base_frame() for either base mode,
or set_floating_base_state() to replace the complete floating-base state. Calls on one
Robot are serialized so its native workspace can be shared safely between
Python threads; use separate instances for true parallel execution.
See the Python API documentation for complete method documentation. The native Rust API is available on docs.rs.
1 maintainer
Metadata
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Release files for dynibo 0.3.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| dynibo-0.3.0.tar.gz | 73.1 kB | Details |
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| dynibo-0.3.0-py3-none-win_amd64.whl | Python 3 | none | Windows x86-64 | Details |
| dynibo-0.3.0-py3-none-manylinux_2_28_x86_64.whl | Python 3 | none | Linux glibc 2.28+ x86-64 | Details |
| dynibo-0.3.0-py3-none-macosx_11_0_arm64.whl | Python 3 | none | macOS 11.0+ ARM64 | Details |
Total release size: 1.3 MB
Release files / dynibo-0.3.0.tar.gz
| Download URL | dynibo-0.3.0.tar.gz |
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| Size | 73.1 kB |
| Tags | Source |
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| Tags | Python 3 Windows x86-64 |
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| Size | 488.8 kB |
| Tags | Linux glibc 2.28+ x86-64 Python 3 |
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