Metadata-Version: 2.1
Name: kinpy
Version: 0.0.8
Summary: Robotics kinematic calculation toolkit
Home-page: http://github.com/neka-nat/kinpy
Author: neka-nat
Author-email: nekanat.stock@gmail.com
License: MIT
Description: # <img src="https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/logo.png" width="400" />
        
        [![Build Status](https://travis-ci.org/neka-nat/kinpy.svg?branch=master)](https://travis-ci.org/neka-nat/kinpy)
        [![PyPI version](https://badge.fury.io/py/kinpy.svg)](https://badge.fury.io/py/kinpy)
        [![MIT License](http://img.shields.io/badge/license-MIT-blue.svg?style=flat)](LICENSE)
        [![Downloads](https://pepy.tech/badge/kinpy)](https://pepy.tech/project/kinpy)
        
        Simple kinematics body toolkit.
        
        ## Core features
        
        * Pure python library.
        * Support URDF, SDF and MJCF file.
        * Calculate FK, IK and jacobian.
        
        ## Installation
        
        ```
        pip install kinpy
        ```
        
        ## Getting started
        Here is a program that reads urdf and generates a kinematic chain.
        
        ```
        import kinpy as kp
        
        chain = kp.build_chain_from_urdf(open("kuka_iiwa/model.urdf").read())
        print(chain)
        # lbr_iiwa_link_0_frame
        #  	lbr_iiwa_link_1_frame
        #  	 	lbr_iiwa_link_2_frame
        #  	 	 	lbr_iiwa_link_3_frame
        #  	 	 	 	lbr_iiwa_link_4_frame
        #  	 	 	 	 	lbr_iiwa_link_5_frame
        #  	 	 	 	 	 	lbr_iiwa_link_6_frame
        #  	 	 	 	 	 	 	lbr_iiwa_link_7_frame
        ```
        
        Displays the parameter names of joint angles included in the chain.
        
        ```
        print(chain.get_joint_parameter_names())
        # ['lbr_iiwa_joint_1', 'lbr_iiwa_joint_2', 'lbr_iiwa_joint_3', 'lbr_iiwa_joint_4', 'lbr_iiwa_joint_5', 'lbr_iiwa_joint_6', 'lbr_iiwa_joint_7']
        ```
        
        Given joint angle values, calculate forward kinematics.
        
        ```
        import math
        th = {'lbr_iiwa_joint_2': math.pi / 4.0, 'lbr_iiwa_joint_4': math.pi / 2.0}
        ret = chain.forward_kinematics(th)
        ```
        
        You can get the position and orientation of each link.
        
        ## Visualization
        
        ### KUKA IIWA
        ![kuka](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/kuka.png)
        
        ### Mujoco humanoid
        ![humanoid](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/humanoid.png)
        
        ### Mujoco ant
        ![ant](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/ant.png)
        
        ### Simple arm
        ![simple_arm](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/simple_arm.png)
        
        ## Citing
        
        ```
        @software{kinpy,
            author = {{Kenta-Tanaka et al.}},
            title = {kinpy},
            url = {https://github.com/neka-nat/kinpy},
            version = {0.0.3},
            date = {2019-10-11},
        }
        ```
Keywords: robot kinematics
Platform: UNKNOWN
Description-Content-Type: text/markdown
