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Grade](https://api.codiga.io/project/29339/score/svg)](https://frontend.code-inspector.com/project/29339/dashboard) \n[![codecov](https://codecov.io/gh/TriPed-Robot/TriP/branch/main/graph/badge.svg?token=T6TMY8CD8M)](https://codecov.io/gh/TriPed-Robot/TriP)\n[![Documentation Status](https://readthedocs.org/projects/trip-kinematics/badge/?version=main)](https://trip-kinematics.readthedocs.io/en/main/?badge=main)\n![example workflow](https://github.com/TriPed-Robot/TriP/actions/workflows/python-package.yml//badge.svg)\n[![DOI](https://joss.theoj.org/papers/10.21105/joss.03967/status.svg)](https://doi.org/10.21105/joss.03967)\n# TriP\nTriP is a python library designed to calculate the forward- and inverse-kinematics of rigid mechanisms.\n\nThis includes open chains, closed chains, and even combinations of both.\n\n\n\n## Features\n\n- Model any robot (including closed and hybrid chains)\n- Generate symbolic representations of forward kinematics\n- Compute Jacobian matrices for differential kinematics\n- Compute the inverse kinematics of arbitrary rigid mechanisms\n- Compute the Inverse Kinematics in position and/or orientation \n- Support arbitrary joint types and quaternions\n- Includes several ready to use examples (TriPed robot, Excavator Arm)\n- TriPs validates the inverse kinematics algorithms with extensive testing using analytic solutions.\n\n## Installation\n\nInstalling the latest release (recommended):\n```\npip install trip-kinematics\n```\n\nInstalling the newest version from source:\n```\ngit clone https://github.com/TriPed-Robot/trip_kinematics\ncd trip_kinematics\npip install src/\n```\n\n## Documentation\nThe documentation can be found [here](https://trip-kinematics.readthedocs.io/en/main/)\n\n## How to cite this library\nIf you find this work useful please give credits to the authors by citing:\n\n* Baumgärtner et al., (2022). TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots. Journal of Open Source Software, 7(71), 3967, https://doi.org/10.21105/joss.03967\n\n```\n@article{Baumgärtner2022,\n  doi = {10.21105/joss.03967},\n  url = {https://doi.org/10.21105/joss.03967},\n  year = {2022},\n  publisher = {The Open Journal},\n  volume = {7},\n  number = {71},\n  pages = {3967},\n  author = {Jan Baumgärtner and Torben Miller},\n  title = {TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots},\n  journal = {Journal of Open Source Software}\n}\n```\n\n\n \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftriped-robot%2Ftrip_kinematics","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftriped-robot%2Ftrip_kinematics","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftriped-robot%2Ftrip_kinematics/lists"}