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OpenKinematics v0.1.0 – Initial Public Release

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@devwithchai devwithchai released this 24 Jul 15:44
v0.1.0
4a8c1ea

OpenKinematics v0.1.0

This is the initial public release of OpenKinematics, an educational, open-source Python library for learning and experimenting with robot kinematics from first principles.

The project focuses on clean software architecture, readable implementations, and transparent robotics algorithms rather than treating kinematics as a black box.

Highlights

Robot Models

  • Planar (2R)
  • SCARA
  • Articulated Robot

Kinematics

  • Denavit–Hartenberg (DH) based Forward Kinematics
  • Geometric Jacobian
  • Manipulability Measure

Inverse Kinematics

  • Analytical IK for Planar Robot
  • Analytical IK for SCARA Robot
  • Numerical (Pseudoinverse) IK for Articulated Robot

Visualization

  • 2D Robot Visualization
  • 3D Robot Visualization

Software Engineering

  • Public Robot API
  • Comprehensive Unit Tests
  • GitHub Actions CI
  • MIT License
  • Sphinx-style API Documentation
  • Contributor Guidelines

Installation

git clone https://github.com/devwithchai/OpenKinematics.git
cd OpenKinematics
pip install -e ".[dev]"
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