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Merge pull request #26 from UM-ARM-Lab/faster2
Trying to speed up FK
2 parents 4d06979 + f98e6fc commit b8b07db

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‎.clang-format

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‎.gitignore

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.idea
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*.so
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*.pkl
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*.egg-info
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__pycache__
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temp*
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# These are cloned/generated when testing with mujoco
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tests/MUJOCO_LOG.TXT
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tests/mujoco_menagerie/
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.ipynb_checkpoints

‎README.md

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# Installation
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```shell
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pip install pytorch-kinematics
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# Alternatively, if you want to load from mujoco's XML format, use:
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pip install pytorch-kinematics[mujoco]
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```
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For development, clone repository somewhere, then `pip3 install -e .` to install in editable mode.
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If you use this package in your research, consider citing
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```
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@software{Zhong_PyTorch_Kinematics_2023,
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author = {Zhong, Sheng and Power, Thomas and Gupta, Ashwin},
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author = {Zhong, Sheng and Power, Thomas and Gupta, Ashwin and Peter, Mitrano},
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doi = {10.5281/zenodo.7700588},
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month = {3},
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title = {{PyTorch Kinematics}},

‎pyproject.toml

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# Classifiers help users find your project by categorizing it.
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#
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# For a list of valid classifiers, see https://pypi.org/classifiers/
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classifiers = [# Optional
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"Development Status :: 4 - Beta",
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# Indicate who your project is intended for
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"Intended Audience :: Developers",
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# Pick your license as you wish
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"License :: OSI Approved :: MIT License",
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# Specify the Python versions you support here. In particular, ensure
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# that you indicate you support Python 3. These classifiers are *not*
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# checked by "pip install". See instead "python_requires" below.
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"Programming Language :: Python :: 3",
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"Programming Language :: Python :: 3 :: Only",
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]
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# This field lists other packages that your project depends on to run.
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# Any package you put here will be installed by pip when your project is
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# installed, so they must be valid existing projects.
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#
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# For an analysis of this field vs pip's requirements files see:
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# https://packaging.python.org/discussions/install-requires-vs-requirements/
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dependencies = [# Optional
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'torch',
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'numpy',
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'transformations',
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dependencies = [
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'absl-py',
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'lxml',
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'pyyaml'
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"mujoco",
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'numpy',
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'pyyaml',
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'torch',
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]
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# List additional groups of dependencies here (e.g. development
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# dependencies). Users will be able to install these using the "extras"
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# syntax, for example:
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#
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# $ pip install sampleproject[dev]
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#
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# Similar to `dependencies` above, these must be valid existing
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# projects.
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[project.optional-dependencies] # Optional
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test = ["pytest", "mujoco"]
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mujoco = ["mujoco"]
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[project.optional-dependencies]
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test = ["pytest"]
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# List URLs that are relevant to your project
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#
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# This field corresponds to the "Project-URL" and "Home-Page" metadata fields:
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# https://packaging.python.org/specifications/core-metadata/#project-url-multiple-use
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# https://packaging.python.org/specifications/core-metadata/#home-page-optional
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#
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# Examples listed include a pattern for specifying where the package tracks
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# issues, where the source is hosted, where to say thanks to the package
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# maintainers, and where to support the project financially. The key is
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# what's used to render the link text on PyPI.
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[project.urls] # Optional
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[project.urls]
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"Homepage" = "https://github.com/UM-ARM-Lab/pytorch_kinematics"
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"Bug Reports" = "https://github.com/UM-ARM-Lab/pytorch_kinematics/issues"
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"Source" = "https://github.com/UM-ARM-Lab/pytorch_kinematics"
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# installed, specify them here.
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# These are the assumed default build requirements from pip:
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requires = ["setuptools>=43.0.0", "wheel"]
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build-backend = "setuptools.build_meta"
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# Including torch and ninja here are needed to build the native code.
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# They will be installed as dependencies during the build, which can take a while the first time.
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requires = ["setuptools>=60.0.0", "wheel"]
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build-backend= "setuptools.build_meta"

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