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Excited to introduce PyRoki ("Python Robot Kinematics"): easier IK, trajectory optimization, motion retargeting... with an open-source toolkit on both CPU and GPU

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Chung Min Kim

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116,952 görüntüleme • 1 yıl önce •via X (Twitter)

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1.7× faster inverse kinematics in pure Python, GPU-accelerated! Fully open-source and built for scale [📍Bookmark for later] PyRoki, a modular toolkit for robot kinematic optimization, supporting - inverse kinematics - trajectory optimization, and - motion retargeting. Built for flexibility, but also fast: ✅ Runs on CPU, GPU, and TPU ✅ Outperforms cuRobo in speed, success rate, and accuracy ✅ Fully in Python, easy to integrate and extend Whether you’re working with industrial arms, simulation environments, or humanoids, PyRoki is designed to fit your stack and scale with your hardware. Thank you, Chung Min Kim, for sharing!! Website: Code: Paper: This one’s for researchers, builders, and anyone tired of debugging their IK stack.
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1.7× faster inverse kinematics in pure Python, GPU-accelerated! Fully open-source and built for scale [📍Bookmark for later] PyRoki, a modular toolkit for robot kinematic optimization, supporting - inverse kinematics - trajectory optimization, and - motion retargeting. Built for flexibility, but also fast: ✅ Runs on CPU, GPU, and TPU ✅ Outperforms cuRobo in speed, success rate, and accuracy ✅ Fully in Python, easy to integrate and extend Whether you’re working with industrial arms, simulation environments, or humanoids, PyRoki is designed to fit your stack and scale with your hardware. Thank you, Chung Min Kim, for sharing!! Website: Code: Paper: This one’s for researchers, builders, and anyone tired of debugging their IK stack.

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Inverse kinematics (IK) for 16 million animated units on the GPU. I raise the terrain with the mouse for more IK. #rendering
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Inverse kinematics (IK) for 16 million animated units on the GPU. I raise the terrain with the mouse for more IK. #rendering

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It's an experimental world about inverse kinematics (IK).
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It's an experimental world about inverse kinematics (IK).

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