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Releases: Synria-Robotics/RoboCore

RoboCore v2.0.0

12 Jan 07:31
@programme184 programme184
RoboCore-v2.0.0
2dcaaf6

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RoboCore v2.0.0 Latest
Latest

✨ Key Features

Module Functionality Status
Modeling URDF/MJCF parsing, Robot abstraction ✅ Stable
Kinematics FK/IK (DLS/Pinv/Transpose), Batch processing ✅ Stable
Bimanual FK/IK (indep/relative/mirror modes) ✅ Stable
Jacobian Analytic/Numeric/Autograd methods ✅ Stable
Transform SE(3)/SO(3) operations ✅ Stable
Planning Trajectory generation ✅ Stable
Control Joint/Cartesian controllers ✅ Stable
Analysis Workspace/Singularity analysis ✅ Stable
WDF SDF/RDF (Distance Fields) ✅ Stable
Bridge MuJoCo simulation bridge ✅ Stable

🚀 Performance Benchmarks

Test Platform: Intel i7-10700K, NVIDIA RTX 3080

CPU (NumPy): Up to 107x faster Jacobian computation and 80x faster IK compared to pure Python.

GPU (PyTorch): 14x speedup on batch Forward Kinematics (1000 configs) vs CPU.

Operation Pure Python NumPy Speedup
Forward Kinematics 2.5 ms 0.05 ms 50x
Inverse Kinematics 450 ms 5.6 ms 80x
Jacobian (Analytic) 3.2 ms 0.03 ms 107x
Operation NumPy (CPU) PyTorch (GPU) Speedup
Forward Kinematics (1000) 45 ms 3.2 ms 14x
Jacobian (1000) 28 ms 2.1 ms 13x

🆕 What's New

  • Bimanual Support: Dual-arm kinematics with indep/relative/mirror modes
  • Control Module: Joint/Cartesian position/velocity/trajectory controllers
  • WDF: Signed/Relative Distance Fields for workspace analysis
  • MuJoCo Bridge: Physics simulation and trajectory evaluation
  • Multi-chain Support: Complex robot topologies

📦 Installation

pip install synria-robocore
Assets 4
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RoboCore v1.0.0

17 Dec 16:15
@programme184 programme184
Robocore-v1.0.0
991e348

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RoboCore v1.0.0

v1.0.0

✨ Key Features

Module Functionality Status
Modeling URDF/MJCF parsing, Robot abstraction ✅ Stable
Kinematics FK/IK (DLS/Pinv), Batch processing ✅ Stable
Jacobian Analytic/Numeric/Autograd methods ✅ Stable
Transform SE(3)/SO(3) operations ✅ Stable
Planning Trajectory generation 🚧 Alpha

🚀 Performance Benchmarks

RoboCore is optimized for speed. Benchmarks performed on an Intel i7-10700K + NVIDIA RTX 3080:

  • Cpu (NumPy): Up to 107x faster Jacobian computation and 80x faster IK compared to pure Python.
  • GPU (PyTorch): 14x speedup on batch Forward Kinematics (1000 configs) vs CPU.
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