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/
1 maintainer
Metadata
1 maintainer
Release files for kinex 1.0.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
Total release size: 27.6 MB
Release files / kinex-1.0.0-cp313-cp313-win_amd64.whl
| Download URL | kinex-1.0.0-cp313-cp313-win_amd64.whl |
|---|---|
| Size | 1.3 MB |
| Tags | CPython 3.13 Windows x86-64 |
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| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / kinex-1.0.0-cp313-cp313-musllinux_1_2_x86_64.whl
| Download URL | kinex-1.0.0-cp313-cp313-musllinux_1_2_x86_64.whl |
|---|---|
| Size | 3.0 MB |
| Tags | CPython 3.13 Linux musl 1.2+ x86-64 |
|
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| Upload date | |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / kinex-1.0.0-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | kinex-1.0.0-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 1.5 MB |
| Tags | CPython 3.13 Linux glibc 2.17+ x86-64 |
|
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| Upload date | |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / kinex-1.0.0-cp313-cp313-macosx_11_0_arm64.whl
| Download URL | kinex-1.0.0-cp313-cp313-macosx_11_0_arm64.whl |
|---|---|
| Size | 1.1 MB |
| Tags | CPython 3.13 macOS 11.0+ ARM64 |
|
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No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / kinex-1.0.0-cp312-cp312-win_amd64.whl
| Download URL | kinex-1.0.0-cp312-cp312-win_amd64.whl |
|---|---|
| Size | 1.3 MB |
| Tags | CPython 3.12 Windows x86-64 |
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No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp312-cp312-musllinux_1_2_x86_64.whl
| Download URL | kinex-1.0.0-cp312-cp312-musllinux_1_2_x86_64.whl |
|---|---|
| Size | 3.0 MB |
| Tags | CPython 3.12 Linux musl 1.2+ x86-64 |
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No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / kinex-1.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | kinex-1.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 1.5 MB |
| Tags | CPython 3.12 Linux glibc 2.17+ x86-64 |
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No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / kinex-1.0.0-cp312-cp312-macosx_11_0_arm64.whl
| Download URL | kinex-1.0.0-cp312-cp312-macosx_11_0_arm64.whl |
|---|---|
| Size | 1.1 MB |
| Tags | CPython 3.12 macOS 11.0+ ARM64 |
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twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp311-cp311-win_amd64.whl
| Download URL | kinex-1.0.0-cp311-cp311-win_amd64.whl |
|---|---|
| Size | 1.3 MB |
| Tags | CPython 3.11 Windows x86-64 |
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twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp311-cp311-musllinux_1_2_x86_64.whl
| Download URL | kinex-1.0.0-cp311-cp311-musllinux_1_2_x86_64.whl |
|---|---|
| Size | 3.0 MB |
| Tags | CPython 3.11 Linux musl 1.2+ x86-64 |
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twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | kinex-1.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 1.5 MB |
| Tags | CPython 3.11 Linux glibc 2.17+ x86-64 |
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| Uploaded via |
twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp311-cp311-macosx_11_0_arm64.whl
| Download URL | kinex-1.0.0-cp311-cp311-macosx_11_0_arm64.whl |
|---|---|
| Size | 1.1 MB |
| Tags | CPython 3.11 macOS 11.0+ ARM64 |
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twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp310-cp310-win_amd64.whl
| Download URL | kinex-1.0.0-cp310-cp310-win_amd64.whl |
|---|---|
| Size | 1.3 MB |
| Tags | CPython 3.10 Windows x86-64 |
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twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp310-cp310-musllinux_1_2_x86_64.whl
| Download URL | kinex-1.0.0-cp310-cp310-musllinux_1_2_x86_64.whl |
|---|---|
| Size | 3.0 MB |
| Tags | CPython 3.10 Linux musl 1.2+ x86-64 |
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| Uploaded via |
twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | kinex-1.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 1.5 MB |
| Tags | CPython 3.10 Linux glibc 2.17+ x86-64 |
|
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twine/6.1.0 CPython/3.13.7
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Release files / kinex-1.0.0-cp310-cp310-macosx_11_0_arm64.whl
| Download URL | kinex-1.0.0-cp310-cp310-macosx_11_0_arm64.whl |
|---|---|
| Size | 1.1 MB |
| Tags | CPython 3.10 macOS 11.0+ ARM64 |
|
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