dexrtgt 0.1.0__tar.gz

dexrtgt-0.1.0/LICENSE

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+MIT License
+
+Copyright (c) 2025 dexrtgt
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

dexrtgt-0.1.0/LICENSE-THIRD-PARTY

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+PyTorch3D License (https://github.com/facebookresearch/pytorch3d):
+
+BSD License
+
+For PyTorch3D software
+
+Copyright (c) Meta Platforms, Inc. and affiliates. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+ * Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+ * Neither the name Meta nor the names of its contributors may be used to
+   endorse or promote products derived from this software without specific
+   prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

dexrtgt-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: dexrtgt
+Version: 0.1.0
+Summary: dexrtgt
+Author: dexrtgt
+License: MIT
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: <3.13,>=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: LICENSE-THIRD-PARTY
+Requires-Dist: packaging
+Requires-Dist: typing-extensions
+Requires-Dist: jaxtyping
+Requires-Dist: rich
+Requires-Dist: PyYAML
+Requires-Dist: numpy<2
+Requires-Dist: yourdfpy
+Requires-Dist: pin
+Requires-Dist: qpsolvers[daqp]
+Requires-Dist: viser
+Requires-Dist: einops
+Requires-Dist: warp-lang
+Requires-Dist: beartype>=0.19.0
+Requires-Dist: smplx>=0.1.28
+Requires-Dist: natsort>=8.4.0
+Requires-Dist: robot-descriptions>=1.22.0
+Provides-Extra: cpu
+Requires-Dist: torch; extra == "cpu"
+Provides-Extra: cu126
+Requires-Dist: torch; extra == "cu126"
+Provides-Extra: cu128
+Requires-Dist: torch; extra == "cu128"
+Requires-Dist: nvidia-nccl-cu12; extra == "cu128"
+Provides-Extra: dev
+Requires-Dist: robot_descriptions; extra == "dev"
+Requires-Dist: pandas; extra == "dev"
+Requires-Dist: tabulate; extra == "dev"
+Requires-Dist: pin-pink; extra == "dev"
+Requires-Dist: smplx; extra == "dev"
+Requires-Dist: opencv-python; extra == "dev"
+Requires-Dist: ipython; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: pyright; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: xdoctest; extra == "dev"
+Requires-Dist: coverage; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: tyro; extra == "dev"
+Requires-Dist: gdown; extra == "dev"
+Requires-Dist: tabulate>=0.9.0; extra == "dev"
+Requires-Dist: ipdb>=0.13.13; extra == "dev"
+Dynamic: license-file
+
+# dexrtgt
+
+GPU-accelerated inverse kinematics and humanoid motion retargeting.

dexrtgt-0.1.0/README.md

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+# dexrtgt
+
+GPU-accelerated inverse kinematics and humanoid motion retargeting.

dexrtgt-0.1.0/pyproject.toml

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+[build-system]
+requires = ["setuptools >= 61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "dexrtgt"
+version = "0.1.0"
+authors = [{ name = "dexrtgt" }]
+description = "dexrtgt"
+readme = "README.md"
+license = { text = "MIT" }
+requires-python = ">=3.8,<3.13"
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+]
+dependencies = [
+    "packaging",
+    "typing-extensions",
+    "jaxtyping",
+    "rich",
+    "PyYAML",
+    "numpy<2",
+    "yourdfpy",
+    "pin",
+    "qpsolvers[daqp]",
+    "viser",
+    "einops",
+    "warp-lang",
+    "beartype>=0.19.0",
+    "smplx>=0.1.28",
+    "natsort>=8.4.0",
+    "robot-descriptions>=1.22.0",
+]
+
+
+[project.optional-dependencies]
+cpu = ["torch"]
+cu126 = ["torch"]
+cu128 = [
+    "torch",
+    "nvidia-nccl-cu12",
+]
+dev = [
+    "robot_descriptions",
+    "pandas",
+    "tabulate",
+    "pin-pink",
+    "smplx",
+    "opencv-python",
+    "ipython",
+    "ruff",
+    "pyright",
+    "pytest",
+    "xdoctest",
+    "coverage",
+    "pytest-cov",
+    "pre-commit",
+    "tyro",
+    "gdown",
+    "tabulate>=0.9.0",
+    "ipdb>=0.13.13",
+]
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.setuptools.package-data]
+robokit = ["**/*.c", "**/*.cpp", "**/*.h", "**/*.hpp", "**/*.cu", "**/*.cuh", "**/*.urdf", "**/*.yaml", "**/*.json"]
+
+[tool.ruff]
+line-length = 120
+exclude = ["src/robokit/thirdparty", "thirdparty"]
+
+[tool.ruff.lint]
+select = [
+    "E",   # pycodestyle errors.
+    "I",   # isort
+    "F",   # Pyflakes rules.
+    "PLC", # Pylint convention warnings.
+    "PLE", # Pylint errors.
+    "PLR", # Pylint refactor recommendations.
+    "PLW", # Pylint warnings.
+]
+ignore = [
+    "E731",    # Do not assign a lambda expression, use a def.
+    "E741",    # Ambiguous variable name. (l, O, or I)
+    "E501",    # Line too long.
+    "E721",    # Do not compare types, use `isinstance()`.
+    "F722",    # Forward annotation false positive from jaxtyping. Should be caught by pyright.
+    "F821",    # Forward annotation false positive from jaxtyping. Should be caught by pyright.
+    "PLR2004", # Magic value used in comparison.
+    "PLR0915", # Too many statements.
+    "PLR0913", # Too many arguments.
+    "PLC0414", # Import alias does not rename variable. (this is used for exporting names)
+    "PLC1901", # Use falsey strings.
+    "PLC0415", # `import` should be at the top-level of a file
+    "PLR5501", # Use `elif` instead of `else if`.
+    "PLR0911", # Too many return statements.
+    "PLR0912", # Too many branches.
+    "PLW0603", # Globa statement updates are discouraged.
+    "PLW2901", # For loop variable overwritten.
+]
+
+[tool.ruff.lint.isort]
+known-first-party = ["robokit"]
+force-single-line = false
+lines-after-imports = 2
+
+[tool.pytest.ini_options]
+addopts = "--cov=robokit --cov-report=term --ignore=thirdparty"
+
+[[tool.uv.index]]
+name = "pytorch-cu126"
+url = "https://download.pytorch.org/whl/cu126"
+explicit = true
+
+[[tool.uv.index]]
+name = "pytorch-cu128"
+url = "https://download.pytorch.org/whl/cu128"
+explicit = true
+
+[[tool.uv.index]]
+name = "pytorch-cu118"
+url = "https://download.pytorch.org/whl/cu118"
+explicit = true
+
+[[tool.uv.index]]
+name = "pytorch-cpu"
+url = "https://download.pytorch.org/whl/cpu"
+explicit = true
+
+[tool.uv]
+constraint-dependencies = [
+    "pin<3.7.0; python_version < '3.9'",
+]
+conflicts = [
+    [{ extra = "cpu" }, { extra = "cu126" }],
+    [{ extra = "cpu" }, { extra = "cu128" }],
+    [{ extra = "cu126" }, { extra = "cu128" }],
+]
+
+[tool.uv.sources]
+torch = [
+    { index = "pytorch-cu128", extra = "cu128", marker = "python_version >= '3.9' and (sys_platform == 'linux' or sys_platform == 'win32')" },
+    { index = "pytorch-cu126", extra = "cu126", marker = "python_version >= '3.9' and (sys_platform == 'linux' or sys_platform == 'win32')" },
+    { index = "pytorch-cpu", extra = "cpu", marker = "python_version >= '3.9' and (sys_platform == 'linux' or sys_platform == 'win32')" },
+    { index = "pytorch-cu118", marker = "python_version < '3.9'" },
+]
+
+[tool.coverage.run]
+omit = ["src/robokit/thirdparty/*"]
+
+
+[tool.pyright]
+typeCheckingMode = "standard"
+include = ["src", "examples"]
+ignore = ["src/robokit/thirdparty"]
+reportAttributeAccessIssue = false
+reportInvalidTypeForm = false
+reportAbstractUsage = false
+reportIncompatibleMethodOverride = false
+reportOverlappingOverload = false
+reportPossiblyUnboundVariable = false
+reportOptionalMemberAccess = false

dexrtgt-0.1.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

dexrtgt-0.1.0/src/dexrtgt.egg-info/PKG-INFO

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+Metadata-Version: 2.4
+Name: dexrtgt
+Version: 0.1.0
+Summary: dexrtgt
+Author: dexrtgt
+License: MIT
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: <3.13,>=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: LICENSE-THIRD-PARTY
+Requires-Dist: packaging
+Requires-Dist: typing-extensions
+Requires-Dist: jaxtyping
+Requires-Dist: rich
+Requires-Dist: PyYAML
+Requires-Dist: numpy<2
+Requires-Dist: yourdfpy
+Requires-Dist: pin
+Requires-Dist: qpsolvers[daqp]
+Requires-Dist: viser
+Requires-Dist: einops
+Requires-Dist: warp-lang
+Requires-Dist: beartype>=0.19.0
+Requires-Dist: smplx>=0.1.28
+Requires-Dist: natsort>=8.4.0
+Requires-Dist: robot-descriptions>=1.22.0
+Provides-Extra: cpu
+Requires-Dist: torch; extra == "cpu"
+Provides-Extra: cu126
+Requires-Dist: torch; extra == "cu126"
+Provides-Extra: cu128
+Requires-Dist: torch; extra == "cu128"
+Requires-Dist: nvidia-nccl-cu12; extra == "cu128"
+Provides-Extra: dev
+Requires-Dist: robot_descriptions; extra == "dev"
+Requires-Dist: pandas; extra == "dev"
+Requires-Dist: tabulate; extra == "dev"
+Requires-Dist: pin-pink; extra == "dev"
+Requires-Dist: smplx; extra == "dev"
+Requires-Dist: opencv-python; extra == "dev"
+Requires-Dist: ipython; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: pyright; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: xdoctest; extra == "dev"
+Requires-Dist: coverage; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: tyro; extra == "dev"
+Requires-Dist: gdown; extra == "dev"
+Requires-Dist: tabulate>=0.9.0; extra == "dev"
+Requires-Dist: ipdb>=0.13.13; extra == "dev"
+Dynamic: license-file
+
+# dexrtgt
+
+GPU-accelerated inverse kinematics and humanoid motion retargeting.

dexrtgt-0.1.0/src/dexrtgt.egg-info/SOURCES.txt

@@ -0,0 +1,106 @@
+LICENSE
+LICENSE-THIRD-PARTY
+README.md
+pyproject.toml
+src/dexrtgt.egg-info/PKG-INFO
+src/dexrtgt.egg-info/SOURCES.txt
+src/dexrtgt.egg-info/dependency_links.txt
+src/dexrtgt.egg-info/requires.txt
+src/dexrtgt.egg-info/top_level.txt
+src/robokit/__init__.py
+src/robokit/py.typed
+src/robokit/types.py
+src/robokit/helpers/__init__.py
+src/robokit/helpers/ik.py
+src/robokit/helpers/ik_cpu.py
+src/robokit/helpers/humanoid_retarget/__init__.py
+src/robokit/helpers/humanoid_retarget/humanoid_retargeting_online.py
+src/robokit/helpers/humanoid_retarget/motion_viewer.py
+src/robokit/helpers/humanoid_retarget/utils/bvh_loader.py
+src/robokit/helpers/humanoid_retarget/utils/smplx_loader.py
+src/robokit/lie/__init__.py
+src/robokit/lie/pinocchio_se3.py
+src/robokit/lie/pinocchio_so3.py
+src/robokit/lie/se3.py
+src/robokit/lie/so3.py
+src/robokit/lie/torch_se3.py
+src/robokit/lie/torch_so3.py
+src/robokit/lie/warp_se3.py
+src/robokit/lie/warp_se3_kernels.py
+src/robokit/lie/warp_so3.py
+src/robokit/lie/warp_so3_kernels.py
+src/robokit/opt/__init__.py
+src/robokit/opt/numpy_optimizer.py
+src/robokit/opt/optimizer.py
+src/robokit/opt/sparse_warp_optimizer.py
+src/robokit/opt/torch_optimizer.py
+src/robokit/opt/var_values.py
+src/robokit/opt/variables.py
+src/robokit/opt/warp_optimizer.py
+src/robokit/opt/warp_solver.py
+src/robokit/robo/__init__.py
+src/robokit/robo/numpy_robot.py
+src/robokit/robo/robot.py
+src/robokit/robo/robot_spec.py
+src/robokit/robo/torch_robot.py
+src/robokit/robo/warp_robot.py
+src/robokit/robo/warp_robot_kernels.py
+src/robokit/robo/yourdfpy.py
+src/robokit/terms/__init__.py
+src/robokit/terms/terms.py
+src/robokit/terms/numpy/__init__.py
+src/robokit/terms/numpy/base_damping_task.py
+src/robokit/terms/numpy/base_step_limit.py
+src/robokit/terms/numpy/frame_task.py
+src/robokit/terms/numpy/position_limit.py
+src/robokit/terms/numpy/rest_task.py
+src/robokit/terms/numpy/smoothness_task.py
+src/robokit/terms/numpy/velocity_limit_task.py
+src/robokit/terms/torch/__init__.py
+src/robokit/terms/torch/base_damping_task.py
+src/robokit/terms/torch/base_step_limit.py
+src/robokit/terms/torch/frame_task.py
+src/robokit/terms/torch/position_limit.py
+src/robokit/terms/torch/rest_task.py
+src/robokit/terms/torch/smoothness_task.py
+src/robokit/terms/torch/velocity_limit_task.py
+src/robokit/terms/warp/__init__.py
+src/robokit/terms/warp/base_damping_task.py
+src/robokit/terms/warp/base_step_limit.py
+src/robokit/terms/warp/collision_task.py
+src/robokit/terms/warp/contact_attraction_task.py
+src/robokit/terms/warp/distance_task.py
+src/robokit/terms/warp/frame_position_huber_task.py
+src/robokit/terms/warp/frame_retargeting_task.py
+src/robokit/terms/warp/frame_task.py
+src/robokit/terms/warp/frame_vector_distance_task.py
+src/robokit/terms/warp/position_limit.py
+src/robokit/terms/warp/position_score.py
+src/robokit/terms/warp/position_task.py
+src/robokit/terms/warp/rest_task.py
+src/robokit/terms/warp/rotation_task.py
+src/robokit/terms/warp/self_penetration_task.py
+src/robokit/terms/warp/smoothness_task.py
+src/robokit/terms/warp/velocity_limit_task.py
+src/robokit/thirdparty/__init__.py
+src/robokit/thirdparty/pytorch3d/__init__.py
+src/robokit/thirdparty/pytorch3d/math.py
+src/robokit/thirdparty/pytorch3d/rotation_conversions.py
+src/robokit/thirdparty/pytorch3d/se3.py
+src/robokit/thirdparty/pytorch3d/so3.py
+src/robokit/utils/__init__.py
+src/robokit/utils/tensor_utils.py
+src/robokit/utils/visualize_utils.py
+src/robokit/utils/warp_utils.py
+src/robokit/xform/__init__.py
+src/robokit/xform/numpy/__init__.py
+src/robokit/xform/numpy/rotation_conversions.py
+src/robokit/xform/numpy/transforms.py
+src/robokit/xform/torch/__init__.py
+src/robokit/xform/torch/rotation_conversions.py
+src/robokit/xform/torch/transforms.py
+src/robokit/xform/torch/utils.py
+src/robokit/xform/warp/__init__.py
+src/robokit/xform/warp/rotation_conversions.py
+src/robokit/xform/warp/torch_wrappers.py
+src/robokit/xform/warp/transforms.py

dexrtgt-0.1.0/src/dexrtgt.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

dexrtgt-0.1.0/src/dexrtgt.egg-info/requires.txt

@@ -0,0 +1,46 @@
+packaging
+typing-extensions
+jaxtyping
+rich
+PyYAML
+numpy<2
+yourdfpy
+pin
+qpsolvers[daqp]
+viser
+einops
+warp-lang
+beartype>=0.19.0
+smplx>=0.1.28
+natsort>=8.4.0
+robot-descriptions>=1.22.0
+
+[cpu]
+torch
+
+[cu126]
+torch
+
+[cu128]
+torch
+nvidia-nccl-cu12
+
+[dev]
+robot_descriptions
+pandas
+tabulate
+pin-pink
+smplx
+opencv-python
+ipython
+ruff
+pyright
+pytest
+xdoctest
+coverage
+pytest-cov
+pre-commit
+tyro
+gdown
+tabulate>=0.9.0
+ipdb>=0.13.13

dexrtgt-0.1.0/src/dexrtgt.egg-info/top_level.txt

@@ -0,0 +1 @@
+robokit

dexrtgt-0.1.0/src/robokit/__init__.py

@@ -0,0 +1,31 @@
+import logging
+from dataclasses import dataclass
+
+import rich
+from rich.logging import RichHandler
+
+
+# ----------------------------- Logging -----------------------------
+rich.reconfigure(log_path=False)
+
+logger = logging.getLogger("robokit")
+logger.propagate = False
+logger.setLevel("INFO")
+if not logger.handlers:
+    logger.addHandler(RichHandler(console=rich.get_console(), show_path=False, log_time_format="[%X]"))
+
+
+# ----------------------------- Config -----------------------------
+@dataclass
+class Config:
+    """Configuration for robokit."""
+
+    enable_torch_jit: bool = True
+    """Whether to enable torch jit."""
+
+
+CONFIG = Config()
+
+__version__ = "0.1.0"
+
+__all__ = ["CONFIG", "__version__"]

dexrtgt-0.1.0/src/robokit/helpers/__init__.py

@@ -0,0 +1,12 @@
+from robokit.helpers.ik import IKHelper, IKHelperConfig
+from robokit.helpers.ik_cpu import CPUIKHelper, CPUIKHelperConfig
+from robokit.opt.warp_solver import WarpStageConfig
+
+
+__all__ = [
+    "CPUIKHelper",
+    "CPUIKHelperConfig",
+    "IKHelper",
+    "IKHelperConfig",
+    "WarpStageConfig",
+]