jkinpylib 0.0.4

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

## Installation

Install base dependencies ` sudo apt install python3-pip python3.8 -m pip install --user virtualenv `

Create virtual environment ` python3.8 -m venv venv/ && source venv/bin/activate pip install -e . `

## Todos - [ ] Remove fix_urdf.py hackery - don’t change joint types. Maintain the original urdf, save an additional one for klampt (with problematic elements removed) - [ ] Add additional robots (from the ikflow repo) - [ ] batched IK optimization steps