Metadata-Version: 2.1
Name: tf-rbdl
Version: 2.0.3
Summary: Rigid Body Dynamics Library using Tensorflow.
Home-page: https://github.com/junhyeokahn/tf_rbdl
Author: Junhyeok Ahn
Author-email: junhyeokahn91@gmail.com
License: MIT
Platform: UNKNOWN
Classifier: License :: OSI Approved :: MIT License
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: Implementation :: CPython
Classifier: Programming Language :: Python :: Implementation :: PyPy
Requires-Python: >=3.6.0
Description-Content-Type: text/markdown
Requires-Dist: numpy (>=1.16.0)
Requires-Dist: setuptools (>=41.0.0)
Provides-Extra: examples
Requires-Dist: pybullet ; extra == 'examples'
Requires-Dist: gym ; extra == 'examples'
Requires-Dist: tqdm ; extra == 'examples'
Provides-Extra: tf
Requires-Dist: tensorflow (>=2.0.0) ; extra == 'tf'
Provides-Extra: tf_gpu
Requires-Dist: tensorflow-gpu (>=2.0.0) ; extra == 'tf_gpu'


[![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.3828061.svg)](https://doi.org/10.5281/zenodo.3828061)

# tf_rbdl
tf_rbdl is a python library that contains some essential rigid body dynamics
algorithms such as forward dynamics and inverse dynamics using Tensorflow. It
uses Lie Group representation and provides kinematic and dynamics quatities of
rigid body systems.

## Examples
### General Usages
- See [examples/general_usage.py](https://github.com/junhyeokahn/tf_rbdl/blob/master/examples/general_usage.py) for details.

## Installation
You can install `tf_rbdl` from PyPI:
```bash
$ pip install tf_rbdl
```
or, you can also install from source:
```bash
$ git clone https://github.com/junhyeokahn/tf_rbdl
$ cd tf_rbdl
$ pip install -e .
```

## Citation
```
@misc{junhyeok_ahn_2020_3828061,
  author       = {Junhyeok Ahn},
  title        = {junhyeokahn/tf\_rbdl: tf\_rbdl-v1.2.0},
  month        = may,
  year         = 2020,
  publisher    = {Zenodo},
  version      = {v1.2.0},
  doi          = {10.5281/zenodo.3828061},
  url          = {https://doi.org/10.5281/zenodo.3828061}
}
```

## Todo
- [ ] Write examples
- [ ] Parse urdf

## Acknowledgement
This library is based on the book [Modern
Robotics](http://hades.mech.northwestern.edu/index.php/Modern_Robotics) and the
[code](https://github.com/NxRLab/ModernRobotics).


