kinex 1.0.0

Python bindings for kinex library

kinex Python Bindings

Python bindings for the kinex robotics kinematics library.

Installation

From Source

Requirements:

• CMake 3.20+
• C++20 compiler
• Python 3.8+
• NumPy 1.20+

pip install .

Usage

import kinex
import numpy as np

# Load robot
robot = kinex.Robot.from_urdf_file("ur5.urdf")

# Forward Kinematics
fk = kinex.ForwardKinematics(robot, "tool0")
q = np.zeros(6)
pose = fk.compute(q)
print(f"Position: {pose.translation()}")

# Inverse Kinematics
solver = kinex.SQPIKSolver(robot, "tool0")
result = solver.solve(pose, np.zeros(6))
if result.status.converged:
    print("IK Solution:", result.solution)
else:
    print("IK Failed:", result.status.message)

Development

To build for development (editable install):

pip install --no-build-isolation -ve .

Testing

pytest tests/