embodichain.utils.warp.kinematics#
Utilities for kinematics implemented with Warp (high-performance kernels).
This subpackage provides Warp kernels and helper functions for inverse/forward kinematics and batched trajectory warping used across EmbodiChain. The modules documented below are the main entry points:
opw_solver: efficient OPW-based forward/inverse kinematics kernels.warp_trajectory: kernels to compute, interpolate, and apply trajectory offsets.
Submodules