PyRoNot: A Python Library for Robot Kinematics Using Spherical Approximations

By Weihang Guo, Sai Coumar

PyRoNot is a toolkit optimized with Jax JIT tracing for accelerated kinematics research. This repository is expands on the work pyroki.

Additional Features:

• Spherized Batched Robot Collision Checking
• SRDF parsing
• Runtime Neural SDFs
• Expanded Primitive Sets
• Improved Jax performance

Installation

pip install git+https://github.com/brentyi/jaxls.git
pip install pyronot