Metadata-Version: 2.1
Name: ikpy
Version: 3.0
Summary: An inverse kinematics library aiming performance and modularity
Home-page: https://github.com/Phylliade/ikpy
Author: Pierre Manceron
License: GNU GENERAL PUBLIC LICENSE Version 3
Description: # IKPy
        
        ![Travis-CI](https://travis-ci.org/Phylliade/ikpy.svg?branch=master)
        [![PyPI](https://img.shields.io/pypi/v/ikpy.svg)](https://pypi.python.org/pypi/ikpy/)
        
        
        ![demo](two_arms.png)
        
        ![IKPy on the bacter robot](baxter.png)
        
        ## Demo
        
        Live demos of what IKPy can do \(click on the image below to see the video\):
        
        
        [![](http://img.youtube.com/vi/H0ysr5qSbis/0.jpg)](https://www.youtube.com/watch?v=H0ysr5qSbis)
        [![](http://img.youtube.com/vi/Jq0-DkEwwj4/0.jpg)](https://www.youtube.com/watch?v=Jq0-DkEwwj4)
        
        Also, a presentation of IKPy: [Presentation](https://github.com/Phylliade/ikpy/blob/master/tutorials/IKPy%20speech.pdf).
        
        ## Features
        
        With IKPy, you can:
        
        * Compute the **Inverse Kinematics** of every existing robot.
        * Compute the Inverse Kinematics in **position, orientation**, or both
        * Define your kinematic chain using **arbitrary representations**: DH (Denavit–Hartenberg), URDF, custom...
        * Automaticly import a kinematic chain from a **URDF file**.
        * Use pre-configured robots, such as **baxter** or the **poppy-torso**
        * IKPy is **precise** (up to 7 digits): the only limitation being your underlying model's precision, and **fast**: from 7 ms to 50 ms (depending on your precision) for a complete IK computation.
        * **Plot** your kinematic chain: no need to use a real robot (or a simulator) to test your algorithms!
        * Define your own Inverse Kinematics methods.
        
        Moreover, IKPy is a **pure-Python library**: the install is a matter of seconds, and no compiling is required.
        
        ## Installation
        
        You have three options:
        
        1. From PyPI \(recommended\) - simply run:
        
           ```bash
           pip install ikpy
           ```
        
           If you intend to plot your robot, you can install the plotting dependencies \(mainly `matplotlib`\):
        
           ```bash
           pip install 'ikpy[plot]'
           ```
        
        2. If you work with Anaconda, there's also a Conda package of IKPy:
          ```bash
          conda install -c https://conda.anaconda.org/phylliade ikpy
          ```
        
        3. From source - first download and extract the archive, then run:
        
           ```bash
           pip install ./
           ```
        
           NB: You must have the proper rights to execute this command
        
        ## Quickstart
        
        Follow this IPython [notebook](https://github.com/Phylliade/ikpy/blob/master/tutorials/Quickstart.ipynb).
        
        ## Guides and Tutorials
        
        Go to the [wiki](https://github.com/Phylliade/ikpy/wiki). It should introduce you to the basic concepts of IKPy.
        
        ## API Documentation
        
        An extensive documentation of the API can be found [here](http://ikpy.readthedocs.org).
        
        ## Dependencies and compatibility
        
        The library can work with both versions of Python \(2.7 and 3.x\). It requires `numpy` and `scipy`.
        
        `sympy` is highly recommended, for fast hybrid computations, that's why it is installed by default.
        
        `matplotlib` is optional: it is used to plot your models \(in 3D\).
        
        ## Contributing
        
        IKPy is designed to be easily customisable: you can add your own IK methods or robot representations \(such as DH-Parameters\) using a dedicated [developer API](https://github.com/Phylliade/ikpy/wiki/Contributing).
        
        Contributions are welcome: if you have an awesome patented \(but also open-source!\) IK method, don't hesitate to propose adding it to the library!
        
        ## Links
        
        * If performance is your main concern, `aversive++` has an inverse kinematics [module](https://github.com/AversivePlusPlus/ik) written in C++, which works the same way IKPy does.
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 2
Classifier: Programming Language :: Python :: 3
Classifier: Topic :: Scientific/Engineering
Description-Content-Type: text/markdown
Provides-Extra: plot
