Metadata-Version: 2.1
Name: jkinpylib
Version: 0.0.5
Summary: Jeremy's Kinematics Python Library
Home-page: https://github.com/jstmn/jkinpylib
Author: Jeremy Morgan
Author-email: jsmorgan6@gmail.com
License: LICENSE.txt
Description: # 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        Second option: Install from pypi (not recomended - the pypi version will likely be out of date until this project hardens)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
Platform: UNKNOWN
Provides-Extra: dev
