dora-openarm-kinematics 0.1.1__tar.gz

dora_openarm_kinematics-0.1.1/LICENSE

@@ -0,0 +1,202 @@
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dora_openarm_kinematics-0.1.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: dora-openarm-kinematics
+Version: 0.1.1
+Summary: dora-rs nodes for forward and inverse kinematics on OpenArm
+Author: Enactic, Inc.
+Maintainer: Enactic, Inc.
+License: Apache-2.0
+Project-URL: Changelog, https://github.com/enactic/dora-openarm-kinematics/releases
+Project-URL: Issues, https://github.com/enactic/dora-openarm-kinematics/issues
+Project-URL: Repository, https://github.com/enactic/dora-openarm-kinematics
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: dora-rs>=0.5.0
+Requires-Dist: openarm-control
+Requires-Dist: pyarrow
+Dynamic: license-file
+
+# dora-openarm-kinematics
+
+Dora nodes for forward and inverse kinematics on the OpenArm bimanual robot, backed by MuJoCo and [mink](https://github.com/kevinzakka/mink). FK/IK logic lives in the [`openarm_control`](https://github.com/enactic/openarm_control) package, imported as `control`.
+
+
+## Install
+
+```bash
+uv sync
+```
+
+## Dora Nodes
+
+
+### `dora-openarm-fk` — Forward Kinematics
+
+Converts per-arm joint angles to end-effector poses via `mj_forward`.
+
+
+| | |
+|---|---|
+| **Inputs** | `position_right` `float32[8]`, `position_left` `float32[8]` — joints 1–7 + gripper |
+| **Outputs** | `pose_right` `float32[7]`, `pose_left` `float32[7]` — `[px, py, pz, qw, qx, qy, qz]` |
+
+```
+--mode           right | left | bimanual  (default: bimanual)
+--frame-right    MuJoCo site/body/geom name for right EE  (default: right_ee_control_point)
+--frame-left     MuJoCo site/body/geom name for left EE   (default: left_ee_control_point)
+--frame-type-*   body | site | geom  (default: site)
+--keyframe       initial keyframe name  (default: home)
+--xml            MJCF scene file
+```
+
+---
+
+### `dora-openarm-ik` — Differential IK
+
+Solves joint angles from EE pose targets using mink's QP-based differential IK. Both arms share one `mink.Configuration` and are solved in a single QP per step. DOFs not driven by IK outputs are frozen (finger joints, lifter).
+
+| | |
+|---|---|
+| **Inputs** | `target_right` `float32[7]`, `target_left` `float32[7]` — EE pose targets; `position` `float32[16]` — optional joint-state sync; `trigger_right` / `trigger_left` `float32[1]` — gripper pass-through |
+| **Outputs** | `position_right` `float32[8]`, `position_left` `float32[8]` |
+
+```
+--mode           right | left | bimanual  (default: bimanual)
+--max-iters      IK iterations per event  (default: 5)
+--dt             integration timestep per iteration  (default: 0.5)
+--damping        global Tikhonov regularization  (default: 1e-3)
+--lm-damping     per-task LM damping  (default: 1e-4)
+--posture-cost   posture task weight, 0 = disabled  (default: 0.0)
+--pos-cost       position task cost  (default: 1.0)
+--ori-cost       orientation task cost  (default: 1.0)
+--solver         QP backend  (default: daqp)
+--frame-right    site/body name for right EE  (default: right_ee_control_point)
+--frame-left     site/body name for left EE   (default: left_ee_control_point)
+--keyframe       initial keyframe  (default: home)
+--xml            MJCF scene file
+```
+
+## Quick Start
+
+### FK — visualise leader arm poses
+
+Reads joint angles from a physical leader arm and publishes end-effector poses. Requires a connected leader device.
+
+```bash
+uv run dora build example/dataflow-dummy-fk.yaml --uv
+uv run dora run example/dataflow-dummy-fk.yaml --uv
+```
+
+---
+
+### FK → IK roundtrip
+
+Pipes FK output directly back into IK to verify the solver round-trips correctly. No physical hardware needed beyond the leader.
+
+```bash
+uv run dora build example/dataflow-dummy-ik.yaml --uv
+uv run dora run example/dataflow-dummy-ik.yaml --uv
+```
+
+**Dataflow:** `leader` → `fk` (joints → poses) → `ik` (poses → joints) → `viewer`
+
+Tune the ik solver parameters in:
+
+```yaml
+args: "--mode bimanual --max-iters 5 --dt 0.1 --damping 0.25 --posture-cost 0.01 --lm-damping 0.01"
+```
+
+## License
+
+Licensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_kinematics-0.1.1/README.md

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+# dora-openarm-kinematics
+
+Dora nodes for forward and inverse kinematics on the OpenArm bimanual robot, backed by MuJoCo and [mink](https://github.com/kevinzakka/mink). FK/IK logic lives in the [`openarm_control`](https://github.com/enactic/openarm_control) package, imported as `control`.
+
+
+## Install
+
+```bash
+uv sync
+```
+
+## Dora Nodes
+
+
+### `dora-openarm-fk` — Forward Kinematics
+
+Converts per-arm joint angles to end-effector poses via `mj_forward`.
+
+
+| | |
+|---|---|
+| **Inputs** | `position_right` `float32[8]`, `position_left` `float32[8]` — joints 1–7 + gripper |
+| **Outputs** | `pose_right` `float32[7]`, `pose_left` `float32[7]` — `[px, py, pz, qw, qx, qy, qz]` |
+
+```
+--mode           right | left | bimanual  (default: bimanual)
+--frame-right    MuJoCo site/body/geom name for right EE  (default: right_ee_control_point)
+--frame-left     MuJoCo site/body/geom name for left EE   (default: left_ee_control_point)
+--frame-type-*   body | site | geom  (default: site)
+--keyframe       initial keyframe name  (default: home)
+--xml            MJCF scene file
+```
+
+---
+
+### `dora-openarm-ik` — Differential IK
+
+Solves joint angles from EE pose targets using mink's QP-based differential IK. Both arms share one `mink.Configuration` and are solved in a single QP per step. DOFs not driven by IK outputs are frozen (finger joints, lifter).
+
+| | |
+|---|---|
+| **Inputs** | `target_right` `float32[7]`, `target_left` `float32[7]` — EE pose targets; `position` `float32[16]` — optional joint-state sync; `trigger_right` / `trigger_left` `float32[1]` — gripper pass-through |
+| **Outputs** | `position_right` `float32[8]`, `position_left` `float32[8]` |
+
+```
+--mode           right | left | bimanual  (default: bimanual)
+--max-iters      IK iterations per event  (default: 5)
+--dt             integration timestep per iteration  (default: 0.5)
+--damping        global Tikhonov regularization  (default: 1e-3)
+--lm-damping     per-task LM damping  (default: 1e-4)
+--posture-cost   posture task weight, 0 = disabled  (default: 0.0)
+--pos-cost       position task cost  (default: 1.0)
+--ori-cost       orientation task cost  (default: 1.0)
+--solver         QP backend  (default: daqp)
+--frame-right    site/body name for right EE  (default: right_ee_control_point)
+--frame-left     site/body name for left EE   (default: left_ee_control_point)
+--keyframe       initial keyframe  (default: home)
+--xml            MJCF scene file
+```
+
+## Quick Start
+
+### FK — visualise leader arm poses
+
+Reads joint angles from a physical leader arm and publishes end-effector poses. Requires a connected leader device.
+
+```bash
+uv run dora build example/dataflow-dummy-fk.yaml --uv
+uv run dora run example/dataflow-dummy-fk.yaml --uv
+```
+
+---
+
+### FK → IK roundtrip
+
+Pipes FK output directly back into IK to verify the solver round-trips correctly. No physical hardware needed beyond the leader.
+
+```bash
+uv run dora build example/dataflow-dummy-ik.yaml --uv
+uv run dora run example/dataflow-dummy-ik.yaml --uv
+```
+
+**Dataflow:** `leader` → `fk` (joints → poses) → `ik` (poses → joints) → `viewer`
+
+Tune the ik solver parameters in:
+
+```yaml
+args: "--mode bimanual --max-iters 5 --dt 0.1 --damping 0.25 --posture-cost 0.01 --lm-damping 0.01"
+```
+
+## License
+
+Licensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_kinematics-0.1.1/pyproject.toml

@@ -0,0 +1,59 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "dora-openarm-kinematics"
+version = "0.1.1"
+authors = [{name = "Enactic, Inc."}]
+description = "dora-rs nodes for forward and inverse kinematics on OpenArm"
+license = {text = "Apache-2.0"}
+maintainers = [{name = "Enactic, Inc."}]
+readme = "README.md"
+requires-python = ">=3.11"
+dependencies = [
+    "dora-rs>=0.5.0",
+    "openarm-control",
+    "pyarrow",
+]
+
+[dependency-groups]
+dev = [
+  "dora-rs-cli>=0.5.0",
+  "ruff==0.14.11", # sync with .pre-commit-config.yaml
+]
+
+[project.urls]
+Changelog = "https://github.com/enactic/dora-openarm-kinematics/releases"
+Issues = "https://github.com/enactic/dora-openarm-kinematics/issues"
+Repository = "https://github.com/enactic/dora-openarm-kinematics"
+
+[project.scripts]
+dora-openarm-fk = "dora_openarm_kinematics.fk:main"
+dora-openarm-ik = "dora_openarm_kinematics.ik:main"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.ruff.lint]
+extend-select = [
+  "D",   # pydocstyle
+  "UP"
+]

dora_openarm_kinematics-0.1.1/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics/__init__.py

@@ -0,0 +1,27 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""dora-rs nodes for inverse and forward kinematics on OpenArm."""
+
+import os
+
+# Define the path to the README file relative to the package directory
+readme_path = os.path.join(os.path.dirname(os.path.dirname(__file__)), "README.md")
+
+# Read the content of the README file
+try:
+    with open(readme_path, encoding="utf-8") as f:
+        __doc__ = f.read()
+except FileNotFoundError:
+    __doc__ = "README file not found."

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics/fk.py

@@ -0,0 +1,106 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Dora node: forward kinematics for OpenArm bimanual setup.
+
+Receives per-arm 8-value joint position arrays and publishes the
+end-effector pose for the arm that was updated.
+
+Inputs:
+  position_right – float32[8]  right arm joints 1–7 + gripper
+  position_left  – float32[8]  left  arm joints 1–7 + gripper
+
+Outputs:
+  pose_right – float32[7]  [px, py, pz, qw, qx, qy, qz]
+  pose_left  – float32[7]  [px, py, pz, qw, qx, qy, qz]
+  status     – ["ready"] on startup
+"""
+
+import argparse
+import time
+
+import dora
+import numpy as np
+import pyarrow as pa
+
+from openarm_control import Kinematics, register_common_args, setup_from_args
+
+
+def _run(args: argparse.Namespace) -> None:
+    kin = Kinematics(setup_from_args(args))
+
+    node = dora.Node()
+    node.send_output("status", pa.array(["ready"]))
+
+    step_count = 0
+    t_loop_start = time.perf_counter()
+
+    for event in node:
+        if event["type"] != "INPUT":
+            continue
+
+        eid = event["id"]
+        if eid == "position_right" and "right" in kin.setup.sides:
+            values = np.array(event["value"], dtype=np.float32)
+            if values.shape != (8,):
+                print(
+                    f"Warning: expected position_right[8], got {values.shape}. Skipping."
+                )
+                continue
+            t0 = time.perf_counter()
+            pose = kin.fk("right", values)
+            node.send_output(
+                "pose_right",
+                pa.array(pose, type=pa.float32()),
+                {"timestamp": time.time_ns()},
+            )
+
+        elif eid == "position_left" and "left" in kin.setup.sides:
+            values = np.array(event["value"], dtype=np.float32)
+            if values.shape != (8,):
+                print(
+                    f"Warning: expected position_left[8], got {values.shape}. Skipping."
+                )
+                continue
+            t0 = time.perf_counter()
+            pose = kin.fk("left", values)
+            node.send_output(
+                "pose_left",
+                pa.array(pose, type=pa.float32()),
+                {"timestamp": time.time_ns()},
+            )
+
+        else:
+            continue
+
+        step_count += 1
+        step_ms = (time.perf_counter() - t0) * 1e3
+        elapsed = time.perf_counter() - t_loop_start
+        hz = step_count / elapsed if elapsed > 0 else 0.0
+        if step_count % 2000 == 0:
+            print(f"[fk] step={step_count:5d}  step={step_ms:.2f}ms  hz={hz:.1f}")
+
+
+def main() -> None:
+    """Forward kinematics for OpenArm."""
+    parser = argparse.ArgumentParser(
+        description="FK dora node – OpenArm end-effector poses from joint angles"
+    )
+    register_common_args(parser)
+    args = parser.parse_args()
+    _run(args)
+
+
+if __name__ == "__main__":
+    main()

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics/ik.py

@@ -0,0 +1,128 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Dora node: mink-based differential IK solver for OpenArm.
+
+Accepts end-effector pose targets and solves joint angles via mink's QP-based
+differential IK. Both arms share one mink.Configuration and one QP solve per
+step.
+
+Pose convention (inputs and outputs):  float32[7] = [px, py, pz, qw, qx, qy, qz]
+Inputs:
+  target_right – float32[7]  right EE target pose
+  target_left  – float32[7]  left  EE target pose
+  position     – float32[16] current joint state right[8]+left[8] (optional sync)
+
+Outputs:
+  position_right – float32[8] solved right arm joint angles
+  position_left  – float32[8] solved left arm joint angles
+  status         – ["ready"] on startup
+"""
+
+from __future__ import annotations
+
+import argparse
+import time
+
+import dora
+import numpy as np
+import pyarrow as pa
+
+from openarm_control import (
+    Kinematics,
+    register_common_args,
+    register_ik_args,
+    ik_params_from_args,
+    setup_from_args,
+)
+
+
+def _map_trigger_to_gripper(trigger: float, side: str) -> float:
+    """Trigger 0.0~1.0 → gripper angle."""
+    if side == "right":
+        return (-1.57 / 2.0) * (1.0 - trigger)  # 0→-1.57, 1→0
+    else:
+        return (1.57 / 2.0) * (1.0 - trigger)  # 0→ 1.57, 1→0
+
+
+def _run(args: argparse.Namespace) -> None:
+    kin = Kinematics(setup_from_args(args), ik_params_from_args(args))
+
+    node = dora.Node()
+    node.send_output("status", pa.array(["ready"]))
+
+    for event in node:
+        if event["type"] != "INPUT":
+            continue
+
+        eid = event["id"]
+        values = np.array(event["value"], dtype=np.float32)
+
+        if eid == "position":
+            if values.shape == (16,):
+                kin.sync(values)
+            continue
+
+        if eid == "target_right" and "right" in kin.setup.sides:
+            if values.shape != (7,):
+                print(
+                    f"Warning: expected target_right[7], got {values.shape}. Skipping."
+                )
+                continue
+            kin.set_target("right", values)
+
+        elif eid == "target_left" and "left" in kin.setup.sides:
+            if values.shape != (7,):
+                print(
+                    f"Warning: expected target_left[7], got {values.shape}. Skipping."
+                )
+                continue
+            kin.set_target("left", values)
+
+        elif eid == "trigger_right":
+            kin.set_gripper("right", _map_trigger_to_gripper(float(values[0]), "right"))
+            continue
+
+        elif eid == "trigger_left":
+            kin.set_gripper("left", _map_trigger_to_gripper(float(values[0]), "left"))
+            continue
+
+        else:
+            continue
+
+        if not kin.ready():
+            continue
+
+        result = kin.solve()
+        if result is None:
+            continue
+
+        ts = {"timestamp": time.time_ns()}
+        node.send_output("position_right", pa.array(result[:8], type=pa.float32()), ts)
+        node.send_output("position_left", pa.array(result[8:16], type=pa.float32()), ts)
+
+
+def main() -> None:
+    """Inverse kinematics for OpenArm."""
+    parser = argparse.ArgumentParser(
+        description="Mink IK dora node – OpenArm end-effector pose → joint angles"
+    )
+    register_common_args(parser)
+    register_ik_args(parser)
+    args = parser.parse_args()
+    _run(args)
+
+
+if __name__ == "__main__":
+    main()

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics.egg-info/PKG-INFO

@@ -0,0 +1,117 @@
+Metadata-Version: 2.4
+Name: dora-openarm-kinematics
+Version: 0.1.1
+Summary: dora-rs nodes for forward and inverse kinematics on OpenArm
+Author: Enactic, Inc.
+Maintainer: Enactic, Inc.
+License: Apache-2.0
+Project-URL: Changelog, https://github.com/enactic/dora-openarm-kinematics/releases
+Project-URL: Issues, https://github.com/enactic/dora-openarm-kinematics/issues
+Project-URL: Repository, https://github.com/enactic/dora-openarm-kinematics
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: dora-rs>=0.5.0
+Requires-Dist: openarm-control
+Requires-Dist: pyarrow
+Dynamic: license-file
+
+# dora-openarm-kinematics
+
+Dora nodes for forward and inverse kinematics on the OpenArm bimanual robot, backed by MuJoCo and [mink](https://github.com/kevinzakka/mink). FK/IK logic lives in the [`openarm_control`](https://github.com/enactic/openarm_control) package, imported as `control`.
+
+
+## Install
+
+```bash
+uv sync
+```
+
+## Dora Nodes
+
+
+### `dora-openarm-fk` — Forward Kinematics
+
+Converts per-arm joint angles to end-effector poses via `mj_forward`.
+
+
+| | |
+|---|---|
+| **Inputs** | `position_right` `float32[8]`, `position_left` `float32[8]` — joints 1–7 + gripper |
+| **Outputs** | `pose_right` `float32[7]`, `pose_left` `float32[7]` — `[px, py, pz, qw, qx, qy, qz]` |
+
+```
+--mode           right | left | bimanual  (default: bimanual)
+--frame-right    MuJoCo site/body/geom name for right EE  (default: right_ee_control_point)
+--frame-left     MuJoCo site/body/geom name for left EE   (default: left_ee_control_point)
+--frame-type-*   body | site | geom  (default: site)
+--keyframe       initial keyframe name  (default: home)
+--xml            MJCF scene file
+```
+
+---
+
+### `dora-openarm-ik` — Differential IK
+
+Solves joint angles from EE pose targets using mink's QP-based differential IK. Both arms share one `mink.Configuration` and are solved in a single QP per step. DOFs not driven by IK outputs are frozen (finger joints, lifter).
+
+| | |
+|---|---|
+| **Inputs** | `target_right` `float32[7]`, `target_left` `float32[7]` — EE pose targets; `position` `float32[16]` — optional joint-state sync; `trigger_right` / `trigger_left` `float32[1]` — gripper pass-through |
+| **Outputs** | `position_right` `float32[8]`, `position_left` `float32[8]` |
+
+```
+--mode           right | left | bimanual  (default: bimanual)
+--max-iters      IK iterations per event  (default: 5)
+--dt             integration timestep per iteration  (default: 0.5)
+--damping        global Tikhonov regularization  (default: 1e-3)
+--lm-damping     per-task LM damping  (default: 1e-4)
+--posture-cost   posture task weight, 0 = disabled  (default: 0.0)
+--pos-cost       position task cost  (default: 1.0)
+--ori-cost       orientation task cost  (default: 1.0)
+--solver         QP backend  (default: daqp)
+--frame-right    site/body name for right EE  (default: right_ee_control_point)
+--frame-left     site/body name for left EE   (default: left_ee_control_point)
+--keyframe       initial keyframe  (default: home)
+--xml            MJCF scene file
+```
+
+## Quick Start
+
+### FK — visualise leader arm poses
+
+Reads joint angles from a physical leader arm and publishes end-effector poses. Requires a connected leader device.
+
+```bash
+uv run dora build example/dataflow-dummy-fk.yaml --uv
+uv run dora run example/dataflow-dummy-fk.yaml --uv
+```
+
+---
+
+### FK → IK roundtrip
+
+Pipes FK output directly back into IK to verify the solver round-trips correctly. No physical hardware needed beyond the leader.
+
+```bash
+uv run dora build example/dataflow-dummy-ik.yaml --uv
+uv run dora run example/dataflow-dummy-ik.yaml --uv
+```
+
+**Dataflow:** `leader` → `fk` (joints → poses) → `ik` (poses → joints) → `viewer`
+
+Tune the ik solver parameters in:
+
+```yaml
+args: "--mode bimanual --max-iters 5 --dt 0.1 --damping 0.25 --posture-cost 0.01 --lm-damping 0.01"
+```
+
+## License
+
+Licensed under the Apache License 2.0. See [LICENSE](LICENSE) for details.
+
+Copyright 2026 Enactic, Inc.
+
+## Code of Conduct
+
+All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md).

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics.egg-info/SOURCES.txt

@@ -0,0 +1,12 @@
+LICENSE
+README.md
+pyproject.toml
+src/dora_openarm_kinematics/__init__.py
+src/dora_openarm_kinematics/fk.py
+src/dora_openarm_kinematics/ik.py
+src/dora_openarm_kinematics.egg-info/PKG-INFO
+src/dora_openarm_kinematics.egg-info/SOURCES.txt
+src/dora_openarm_kinematics.egg-info/dependency_links.txt
+src/dora_openarm_kinematics.egg-info/entry_points.txt
+src/dora_openarm_kinematics.egg-info/requires.txt
+src/dora_openarm_kinematics.egg-info/top_level.txt

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+dora-openarm-fk = dora_openarm_kinematics.fk:main
+dora-openarm-ik = dora_openarm_kinematics.ik:main

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics.egg-info/requires.txt

@@ -0,0 +1,3 @@
+dora-rs>=0.5.0
+openarm-control
+pyarrow

dora_openarm_kinematics-0.1.1/src/dora_openarm_kinematics.egg-info/top_level.txt

@@ -0,0 +1 @@
+dora_openarm_kinematics