jkinpylib 0.0.9

Jeremy's Kinematics Python Library

# Jkinpylib

‘Jeremy’s kinematics python library’. This library runs forward and inverse kinematics in parrallel on the gpu/cpu using pytorch. It also can call single value FK/IK solvers from Klamp’t

Note: This project uses the w,x,y,z format for quaternions.

## Installation

Recommended: clone the repo and install with pip ` git clone https://github.com/jstmn/jkinpylib.git && cd jkinpylib/ pip install -e . # or: pip install -e ".[dev]" `

Second option: Install from pypi (not recomended - the pypi version will likely be out of date until this project hardens) ` bash pip install jkinpylib `

## Batch IK stats

function name | library used | jacobian function | inverse method | runtime for 10 | runtime for 100 ————- | —————– | —————– | ————– | ————– | ————— inverse_kinematics_single_step_batch_np | numpy | klampt jacobian | pseudo-inverse | -1 | -1

## Todos - [x] Remove fix_urdf.py hackery - don’t change joint types. Maintain the original urdf, save a formatted one with minor tweaks - [x] Add additional robots (from the ikflow repo) - [x] batched IK optimization steps