embodichain.utils.warp.kinematics

embodichain.utils.warp.kinematics#

Compatibility aliases for kernels relocated to embodichain.compute.

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.

Compatibility package for relocated kinematics kernels.

Submodules

`interpolate`	Compatibility aliases for `embodichain.compute.trajectory._warp.resampling`.
`ur_solver`	Compatibility aliases for `embodichain.compute.kinematics._warp.ur`.
`opw_solver`	Compatibility aliases for `embodichain.compute.kinematics._warp.opw`.
`warp_trajectory`	Compatibility aliases for `embodichain.compute.trajectory._warp.warping`.

OPW Kinematics Solver#

Compatibility aliases for embodichain.compute.kinematics._warp.opw.

Classes:

`wp_vec48f`	alias of `vec_t`
`wp_vec6f`	alias of `vec_t`

embodichain.utils.warp.kinematics.opw_solver.wp_vec48f#: alias of vec_t

embodichain.utils.warp.kinematics.opw_solver.wp_vec6f#: alias of vec_t

Trajectory Warping Utilities#

Compatibility aliases for embodichain.compute.trajectory._warp.warping.

SRS and UR Compatibility#

Compatibility aliases for embodichain.compute.kinematics._warp.srs.

Compatibility aliases for embodichain.compute.kinematics._warp.ur.