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version](https://badge.fury.io/py/tinyfk.svg)](https://pypi.org/project/tinyfk/)\nA tiny fast forward-kinematics solver written in c++ and its python wrapper\n\nInstallation by downloading wheel from PyPI (only linux):\n```bash\npip install tinyfk\n```\n\nor, building locally from source (for developer):\n```bash\nsudo apt-get install libeigen3-dev\ngit clone https://github.com/HiroIshida/tinyfk.git\ncd tinyfk\ngit submodule update --init\npip install . \n```\n\n### Usage\n```python\nimport numpy as np\n\nimport tinyfk\nfrom tinyfk import BaseType, KinematicModel, RotationType\n\nurdf_model_path = tinyfk.pr2_urdfpath()\nkin = KinematicModel(urdf_model_path)\njoint_names = [\n    \"r_shoulder_pan_joint\",\n    \"r_shoulder_lift_joint\",\n    \"r_upper_arm_roll_joint\",\n    \"r_elbow_flex_joint\",\n    \"r_forearm_roll_joint\",\n    \"r_wrist_flex_joint\",\n    \"r_wrist_roll_joint\",\n]\n\njoint_ids = kin.get_joint_ids(joint_names)\nend_link_id = kin.get_link_ids([\"r_gripper_tool_frame\"])[0]\n\n# first 7 elements are for joints and the last 3 elements are for x, y, yaw of base.\nq = np.array([0.564, 0.35, -0.74, -0.7, -0.7, -0.17, -0.63, 0.1, 0.2, 0.3])\n\nposes, jacobians = kin.solve_fk(\n    q,\n    end_link_id,\n    joint_ids,\n    rot_type=RotationType.RPY,\n    base_type=BaseType.PLANER,\n    with_jacobian=True,\n)\n```\nAlso, simple inverse-kinematics demo is available in `python/example/ik.py`.\n\n### For debugging\nFor debugging or developing, it's better using cmake directly rather than using `pip`. In this case, please use\n```bash\nsudo apt-get install libeigen3-dev\ngit clone https://github.com/HiroIshida/tinyfk.git\ncd tinyfk\ngit submodule update --init\nmkdir build\ncd build\ncmake --DCMAKE_BUILD_TYPE=Debug --DINSTALL_VIA_PIP=OFF ..\nmake -j4\n# make install # please read the CMakeLists.txt before doing this\n```\nNote that when you build the python wrapper using cmake (not using pip), the package name for the wrapper will be `_tinyfk`. So, to make it compatible with the pip-installed one, please insert `import _tinyfk as tinyfk` in the beginning of the python script.\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhiroishida%2Ftinyfk","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhiroishida%2Ftinyfk","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhiroishida%2Ftinyfk/lists"}