Metadata-Version: 2.1
Name: tf_rbdl
Version: 0.1.0
Summary: Rigid Body Dynamics Library using Tensorflow.
Home-page: https://github.com/junhyeokahn/tf_rbdl
Author: Junhyeok Ahn
Author-email: junhyeokahn91@gmail.com
License: MIT
Description: 
        # tf_rbdl
        tf_rbdl is a python library that contains some essential rigid body dynamics
        algorithms such as forward dynamics and inverse dynamics using Tensorflow. It
        uses Lie Group representation and provides kinematic and dynamics quatities of
        rigid body systems.
        
        ## Examples
        ### General Usages
        - APIs: [examples/general_usage.py](https://github.com/junhyeokahn/tf_rbdl/blob/master/examples/computation_time.py)
        ### Kinematics
        - Function usages
        - Inverse kinematics control
        ### Dynamics
        - Function usages
        - Inverse dynamics control
        
        ## Computation Efficiency
        Running [examples/computation_time.py](https://github.com/junhyeokahn/tf_rbdl/blob/master/examples/computation_time.py) evaluates inverse dynamics for 5 batches and 500 epochs.
        
        |     | Single Input w/ Autograph | Single Input w/o Autograph | Batch Input w/ Autograph | Batch Input w/o Autograph |
        |:---:|:-------------------------:|:--------------------------:|:------------------------:|:-------------------------:|
        | CPU |          3.82 (s)         |          71.68 (s)         |         0.95 (s)         |         13.02 (s)         |
        | GPU |          8.53 (s)         |          89.75 (s)         |         2.46 (s)         |         18.27 (s)         |
        
        ## Installation
        You can install `tf_rbd` from PyPI:
        ```bash
        $ pip install tf_rbdl
        ```
        or, you can also install from source:
        ```bash
        $ git clone https://github.com/junhyeokahn/tf_rbdl
        $ cd tf_rbdl
        $ pip install -e .
        ```
        
        ## Todo
        - [ ] Write examples
        - [ ] Parse urdf
        
        ## Acknowledgement
        This library is based on the book [Modern
        Robotics](http://hades.mech.northwestern.edu/index.php/Modern_Robotics) and the
        [code](https://github.com/NxRLab/ModernRobotics).
        
Platform: UNKNOWN
Classifier: License :: OSI Approved :: MIT License
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Programming Language :: Python :: Implementation :: PyPy
Requires-Python: >=3.6.0
Description-Content-Type: text/markdown
Provides-Extra: tf
Provides-Extra: tf_gpu
Provides-Extra: examples
