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Rofunc 0.0.2.6 documentation - Home
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Get Started

  • Installation
  • Quick start
  • Example gallery
    • Data collection and processing
      • BoB Visualize
      • Delsys EMG Export
      • Delsys EMG Export
      • Delsys EMG Record
      • Multimodal Record
      • Multimodal data fusion
      • Optitrack Export
      • Optitrack Record
      • Optitrack Visualize
      • Xsens Export
      • Xsens Record
      • Xsens Visualize
      • ZED Export
      • ZED Record
    • Reinforcement learning class
    • Machine learning class
      • BiRP
      • FeLT
      • FeLT
      • GMR
      • TP-GMM
      • TP-GMM for bimanual setting
      • TP-GMMBi with Relative Parameterization in Control
      • TP-GMMBi with Relative Parameterization in Representation
      • TP-GMR for Tai Chi
      • Taichi
    • Planning and control methods
      • Bimanual iLQR
      • LQT
      • LQT feedback version
      • LQT with control primitives
      • LQT with control primitives and DMP
      • iLQR
      • iLQR
      • iLQR control primitive version
      • iLQR with CoM
      • iLQR with dynamics
      • iLQR with obstacle avoidance
    • Robolab
      • CURI FK transformation verification with optitrack
      • CURI forward dynamics
      • CURI forward kinematics
      • CURI inverse kinematics
      • CURI utils
      • Coordinate transform
      • Ergo manipulation
      • Ergo manipulation
      • FD from models
      • FK from models
      • IK from models
      • Jacobian from models
    • Visualab
      • Image segmentation using EfficientSAM with prompt
      • Image segmentation using SAM
      • Image segmentation using SAM with prompt
      • Part-level segmentation using SAM and VLPart with prompt
    • Simulator
      • Apply Forces and Torques On CURI
      • CURI controllers
      • CURI cube pick
      • CURI screw nut
      • Construct custom human model from Xsens data
      • LLM control a robot with pre-defined low-level motion API
      • Object Simulator and Camera Tracking
      • Tracking the trajectory by Franka
      • Tracking the trajectory by Gluon
      • Tracking the trajectory with interference by CURI
      • Tracking the trajectory with multiple rigid bodies by CURI
      • Tracking the trajectory with multiple rigid bodies by Walker
      • Tracking the trajectory with multiple rigid bodies by Walker
      • Tracking the trajectory with multiple rigid bodies by Walker
      • Visualize robots and objects
      • Visualize robots and objects
      • Visualize robots and objects

Tutorial

  • Configuration system
  • RofuncRL tutorial
  • RofuncIL tutorial
  • RofuncML tutorial
  • RofuncPC tutorial

Core Modules

  • Demonstration collection and pre-processing
    • Xsens
    • Optitrack
    • Zed
    • Delsys EMG
    • Multimodal
  • Learning from Demonstration
    • Machine learning class
      • Dynamic Movement Primitives (DMP)
      • TP-GMM
      • TP-GMR
    • RLBaseLine
      • RLBaseLine (SKRL)
      • RLBaseLine (RLlib)
      • RLBaseLine (ElegantRL)
    • Deep learning class (RofuncIL)
      • Rofunc IL
      • Behavior Cloning
      • Behavior Cloning with Zero-Shot
      • Structured-Transformer
      • Robotics Transformers-1
    • Reinforcement learning class (RofuncRL)
      • Rofunc RL
      • RofuncRL A2C (Advantage Actor-Critic)
      • RofuncRL PPO (Proximal Policy Optimization)
      • RofuncRL TD3 (Twin Delayed Deep Deterministic Policy Gradient)
      • RofuncRL SAC (Soft Actor-Critic)
      • RofuncRL CQL (Conservative Q-Learning)
      • RofuncRL BCQ (Batch-Constrained Q-Learning)
      • RofuncRL DTrans (Decision Transformer)
      • RofuncRL TD3+BC (Twin Delayed Deep Deterministic Policy Gradient with Batch-Constrained)
      • RofuncRL EDAC (Ensemble-Diversified Actor Critic)
      • RofuncRL AMP (Adversarial Motion Priors)
      • RofuncRL ASE (Adversarial Skill Embeddings)
      • RofuncRL ODTrans (Online Decision Transformer)
      • Human-Humanoid Robots Cross-Embodiment Behavior-Skill Transfer Using Decomposed Adversarial Learning from Demonstration
  • Planning and Control
    • Usage
    • Linear Quadratic Tracking (LQT)
    • LQT (feedback version)
    • LQT (control primitive version)
    • iterative Linear Quadratic Regulator (iLQR)
  • Tools
    • RoboLab
    • VisuaLab
    • DataLab
  • Robot simulator
    • Franka simulator
    • CURI simulator

API Reference

  • API Reference
    • rofunc
      • rofunc.simulator
        • rofunc.simulator.utils
        • rofunc.simulator.src
        • rofunc.simulator.qbsofthand_sim
        • rofunc.simulator.gluon_sim
        • rofunc.simulator.ikea_sim
        • rofunc.simulator.base_sim
        • rofunc.simulator.walker_sim
        • rofunc.simulator.curi_sim
        • rofunc.simulator.human_sim
        • rofunc.simulator.multirobot_sim
        • rofunc.simulator.object_sim
        • rofunc.simulator.franka_sim
        • rofunc.simulator.humanoid_sim
      • rofunc.devices
        • rofunc.devices.mmodal
        • rofunc.devices.optitrack
        • rofunc.devices.emg
        • rofunc.devices.xsens
        • rofunc.devices.zed
      • rofunc.utils
        • rofunc.utils.maniplab
        • rofunc.utils.robolab
        • rofunc.utils.visualab
        • rofunc.utils.downloader
        • rofunc.utils.datalab
        • rofunc.utils.logger
        • rofunc.utils.oslab
      • rofunc.learning
        • rofunc.learning.RofuncML
        • rofunc.learning.RofuncIL
        • rofunc.learning.utils
        • rofunc.learning.RofuncRL
        • rofunc.learning.pre_trained_models
      • rofunc.config
        • rofunc.config.utils
      • rofunc.planning_control
        • rofunc.planning_control.lqr
        • rofunc.planning_control.lqt
  • Repository
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  • .rst

rofunc.utils.robolab.kinematics

Contents

  • Submodules

rofunc.utils.robolab.kinematics#

1.  Submodules#

  • rofunc.utils.robolab.kinematics.fk
  • rofunc.utils.robolab.kinematics.robot_class
  • rofunc.utils.robolab.kinematics.ik
  • rofunc.utils.robolab.kinematics.pytorch_kinematics_utils
  • rofunc.utils.robolab.kinematics.kinpy_utils

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Contents
  • Submodules

By Junjia Liu

© Copyright 2025, Junjia Liu.