{"repo":"Phylliade/ikpy","free":true,"listed":false,"github":"https://github.com/Phylliade/ikpy","clone":"git clone https://github.com/Phylliade/ikpy.git","description":"IKPy, an Universal Inverse Kinematics library","language":"Python","stars":1026,"topics":["inverse-kinematics","urdf","robotics","poppy","python"],"license":"Apache-2.0","category":"dev-tools","readme_excerpt":"IKPy Demo Live demos of what IKPy can do \\(click on the image below to see the video\\): Also, a presentation of IKPy: Presentation. Features With IKPy, you can: Compute the Inverse Kinematics of every existing robot. Compute the Inverse Kinematics in position, orientation , or both Define your kinematic chain using arbitrary representations : DH (Denavit–Hartenberg), URDF, custom... Automatically import a kinematic chain from a URDF file or a MuJoCo MJCF file . Support for arbitrary joint types: revolute , prismatic and more to come in the future Use pre-configured robots, such as baxter or the poppy-torso IKPy is precise (up to 7 digits): the only limitation being your underlying model's precision, and fast : from 7 ms to 50 ms (depending on your precision) for a complete IK computation. Plot your kinematic chain: no need to use a real robot (or a simulator) to test your algorithms! Define your own Inverse Kinematics methods. Utils to parse and analyze URDF files: Moreover, IKPy is a pure-Python library : the install is a matter of seconds, and no compiling is required. JAX Backend (Experimental) IKPy now includes an optional JAX backend for accelerated inverse kinematics using automatic differentiation. Benefits Scenario Speedup vs NumPy ---------- ------------------ Single target (complex chains) 1.5-4x faster Trajectory tracking (warm start) 2-3x faster Cold start More robust (fewer local minima) The JAX backend uses an analytical Jacobian computed via autodiff, which pro","default_branch":null,"files":null,"tree":[],"storefront":"/r/Phylliade","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/Phylliade/ikpy/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}