A Python extension module written in Rust using PyO3
Project description
Overview
Power by cursor & LLM.
Features
- ✅ Core spatial algebra types:
SE3,Inertia,Motion - ✅ Kinematic tree representation with joints and frames
- ✅ Multiple joint types: Fixed, Revolute, Prismatic, Floating, etc.
- ✅ Frame management (Joint, Body, Sensor, FixedJoint, OpFrame)
- ✅ Physical parameters: inertia, friction, damping, limits
- ✅ Tree traversal support: parents, children, supports, subtrees
- ✅ Configuration space indexing (nq, nv)
- ✅ Built on nalgebra for linear algebra
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