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

PyRoki's focus is flexibility, but it's also fast: up to 1.4-1.7x faster than cuRobo for GPU-accelerated IK! (with higher success and lower errors, see paper ✨)

This work wouldn't have been possible without my collaborators @brenthyi @redstone_hong @YiMaTweets @Ken_Goldberg @akanazawa ! The toolkit is available here: Website: Code:

Happy to see this public, congrats @ChungMinKim !

Thank you!! Excited to have this out :-)

Congrats on the release!

Can it do ik on a 5dof arm? Like LeRobot so100?

:-)

Definitely try it this week and use it for my XLeRobot!

Incredible work ✨ This is so cool!!

🥹 thank u 👉👈

Looks cool, congrats!!

This is so cool!! Yay Chung Min 🤩🌟

Great stuff! We can always use better IK 😅

yay!!!!

You guys are killing it today, damn lol

Need more regularization?

Hey! amazing work👍 excited to try it out

This looks awesome, love the clean IK and retargeting workflow.

Cooool!

Hey, PyRoki sounds cool, but how does it stack up against other tools for robot kinematics? What makes its IK and trajectory optimization easier to use?

No quadrupeds? 😔

Wow! Awesome! Does it work also with closed loop IK like: ? It might be the future of robotics as its much simpler, less expensive with high load capacity

This is pretty cool - will check it out. QQ: Did you find PyRoki perform better in collisions also than cuRobo?

wen this gonna be public product

Cool project👏More GPU-friendly robotics tools are exactly what's needed

@TheHumanoidHub Can it consider joint angle limits when calculating IK solutions? Or collision avoidance with known objects in the workspace?

Amazing work! I knew Python was versatile but never even considered it for robot simulations. Love it!