EAIK 0.0.1__tar.gz

eaik-0.0.1/MANIFEST.in

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+graft external/EAIK

eaik-0.0.1/PKG-INFO

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+Metadata-Version: 2.1
+Name: EAIK
+Version: 0.0.1
+Summary: Toolbox for Efficient Analytical Inverse Kinematics by Subproblem Decomposition.
+Author-email: Daniel Ostermeier <daniel.sebastian.ostermeier@tum.de>
+Project-URL: Homepage, https://eaik.cps.cit.tum.de
+Project-URL: Repository, https://github.com/OstermD/EAIK
+Keywords: Analytical Inverse Kinematic,Inverse Kinematic,Robot Kinematic
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Requires-Dist: numpy>=1.21.0
+Requires-Dist: urchin>=0.0.27
+Requires-Dist: setuptools
+Requires-Dist: pybind11>=2.10.0
+Requires-Dist: pybind11-stubgen>=0.13.0
+
+# EAIK: A Toolbox for Efficient Analytical Inverse Kinematics
+This is a preliminary version of the implementation of the EAIK toolbox. The functionality is currently limited and will be extended during the next weeks! Keep updated to not miss out!
+See our [Project page](https://https://eaik.cps.tum.de/) fore further information.
+
+## Overview
+The problem of calculating the inverse kinematics appears for any manipulator with arbitrary degrees of freedom.
+This problem might have exactly one, multiple, infinite, or no solution at all depending on the number of joints, their types, and their respective placement ( i.e., the manipulator's joint configuration).
+
+Due to this characteristic of the inverse kinematic problem, the existence of a closed-form solution is not guaranteed.
+Current methods for general closed-form derivation comprise the above-mentioned requirements in their final solution (given a solvable manipulator) but suffer from complex setup procedures.
+With this toolbox, we propose a method for automatic inverse kinematic derivation.
+We exploit intersecting and parallel axes to remodel a manipulator's kinematic chain.
+
+This allows us for a hard-coded decomposition of its inverse kinematics into pre-solved subproblems.
+This approach surpasses current analytical methods in terms of usability and derivation speed without compromising on computation time or the completeness of the overall solution set.
+
+## Credits
+See our [Project page](https://https://eaik.cps.tum.de/) fore further information.
+
+We adopt the solutions and overall canonical subproblem set from [Elias et al.](https://arxiv.org/abs/2211.05737).
+Check out their publication and [implementation](https://github.com/rpiRobotics/ik-geo). 
+
+## Example
+We currently provide support for CSV files containing the homogeneous transformations of each joint in zero-pose with respect to the basis, as well as [ROS URDF](http://wiki.ros.org/urdf) files.
+
+#### URDF
+```
+import numpy as np
+import random
+
+from eaik.IK_URDF import Robot
+
+def test_urdf(path, batch_size):
+
+    bot = Robot(path)
+
+    # Example desired pose
+    test_angles = []
+    for i in range(batch_size):
+        rand_angles = np.array([random.random(), random.random(), random.random(), random.random(), random.random(), random.random()])
+        rand_angles *= 2*np.pi
+        test_angles.append(rand_angles)
+    poses = []
+    for angles in test_angles:
+       poses.append(bot.fwdKin(angles))
+
+    for pose in poses:
+        ik_solution = bot.IK(pose)
+        
+test_urdf("../tests/UR5.urdf", 100)
+```
+
+#### CSV
+
+```
+from eaik.IK_CSV import Robot
+import numpy as np
+import csv
+
+def load_test_csv(path):
+    bot = Robot(path, False)
+
+    total_num_ls = 0
+    error_sum = 0
+    total_num_analytic = 0
+    num_no_solution = 0
+    with open(path, newline='') as csvfile:
+        reader = csv.DictReader(csvfile)
+
+        T01 = None
+        T02 = None
+        T03 = None
+        T04 = None
+        T05 = None
+        T06 = None
+
+        for row in reader:
+            T06 = np.array([[np.float64(row['6-T00']), np.float64(row['6-T01']), np.float64(row['6-T02']), np.float64(row['6-T03'])],
+                            [np.float64(row['6-T10']), np.float64(row['6-T11']), np.float64(row['6-T12']), np.float64(row['6-T13'])], 
+                            [np.float64(row['6-T20']), np.float64(row['6-T21']), np.float64(row['6-T22']), np.float64(row['6-T23'])],
+                            [np.float64(row['6-T30']), np.float64(row['6-T31']), np.float64(row['6-T32']), np.float64(row['6-T33'])]])
+            
+            
+            ik_solutions = bot.IK(T06)
+
+
+load_test_csv("./tests/robot_1.csv")
+
+```

eaik-0.0.1/README.md

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+# EAIK: A Toolbox for Efficient Analytical Inverse Kinematics
+This is a preliminary version of the implementation of the EAIK toolbox. The functionality is currently limited and will be extended during the next weeks! Keep updated to not miss out!
+See our [Project page](https://https://eaik.cps.tum.de/) fore further information.
+
+## Overview
+The problem of calculating the inverse kinematics appears for any manipulator with arbitrary degrees of freedom.
+This problem might have exactly one, multiple, infinite, or no solution at all depending on the number of joints, their types, and their respective placement ( i.e., the manipulator's joint configuration).
+
+Due to this characteristic of the inverse kinematic problem, the existence of a closed-form solution is not guaranteed.
+Current methods for general closed-form derivation comprise the above-mentioned requirements in their final solution (given a solvable manipulator) but suffer from complex setup procedures.
+With this toolbox, we propose a method for automatic inverse kinematic derivation.
+We exploit intersecting and parallel axes to remodel a manipulator's kinematic chain.
+
+This allows us for a hard-coded decomposition of its inverse kinematics into pre-solved subproblems.
+This approach surpasses current analytical methods in terms of usability and derivation speed without compromising on computation time or the completeness of the overall solution set.
+
+## Credits
+See our [Project page](https://https://eaik.cps.tum.de/) fore further information.
+
+We adopt the solutions and overall canonical subproblem set from [Elias et al.](https://arxiv.org/abs/2211.05737).
+Check out their publication and [implementation](https://github.com/rpiRobotics/ik-geo). 
+
+## Example
+We currently provide support for CSV files containing the homogeneous transformations of each joint in zero-pose with respect to the basis, as well as [ROS URDF](http://wiki.ros.org/urdf) files.
+
+#### URDF
+```
+import numpy as np
+import random
+
+from eaik.IK_URDF import Robot
+
+def test_urdf(path, batch_size):
+
+    bot = Robot(path)
+
+    # Example desired pose
+    test_angles = []
+    for i in range(batch_size):
+        rand_angles = np.array([random.random(), random.random(), random.random(), random.random(), random.random(), random.random()])
+        rand_angles *= 2*np.pi
+        test_angles.append(rand_angles)
+    poses = []
+    for angles in test_angles:
+       poses.append(bot.fwdKin(angles))
+
+    for pose in poses:
+        ik_solution = bot.IK(pose)
+        
+test_urdf("../tests/UR5.urdf", 100)
+```
+
+#### CSV
+
+```
+from eaik.IK_CSV import Robot
+import numpy as np
+import csv
+
+def load_test_csv(path):
+    bot = Robot(path, False)
+
+    total_num_ls = 0
+    error_sum = 0
+    total_num_analytic = 0
+    num_no_solution = 0
+    with open(path, newline='') as csvfile:
+        reader = csv.DictReader(csvfile)
+
+        T01 = None
+        T02 = None
+        T03 = None
+        T04 = None
+        T05 = None
+        T06 = None
+
+        for row in reader:
+            T06 = np.array([[np.float64(row['6-T00']), np.float64(row['6-T01']), np.float64(row['6-T02']), np.float64(row['6-T03'])],
+                            [np.float64(row['6-T10']), np.float64(row['6-T11']), np.float64(row['6-T12']), np.float64(row['6-T13'])], 
+                            [np.float64(row['6-T20']), np.float64(row['6-T21']), np.float64(row['6-T22']), np.float64(row['6-T23'])],
+                            [np.float64(row['6-T30']), np.float64(row['6-T31']), np.float64(row['6-T32']), np.float64(row['6-T33'])]])
+            
+            
+            ik_solutions = bot.IK(T06)
+
+
+load_test_csv("./tests/robot_1.csv")
+
+```

eaik-0.0.1/external/EAIK/.git

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+gitdir: ../../.git/modules/external/EAIK

eaik-0.0.1/external/EAIK/.gitignore

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+# Binary files
+*.out
+
+# build files
+*build/
+
+# .vscode files
+*.vscode/

eaik-0.0.1/external/EAIK/.gitmodules

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+[submodule "external/ik-geo"]
+	path = external/ik-geo
+	url = git@github.com:OstermD/ik-geo.git