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    "info": {
        "author": "Yijiang Huang",
        "author_email": "yijiangh@mit.edu",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 2 - Pre-Alpha",
            "Intended Audience :: Science/Research",
            "License :: OSI Approved :: MIT License",
            "Operating System :: Microsoft :: Windows",
            "Operating System :: Unix",
            "Programming Language :: Python",
            "Programming Language :: Python :: 2.7",
            "Programming Language :: Python :: 3",
            "Programming Language :: Python :: 3.3",
            "Programming Language :: Python :: 3.4",
            "Programming Language :: Python :: 3.5",
            "Programming Language :: Python :: 3.6",
            "Topic :: Scientific/Engineering"
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        "description": "==============\nikfast_pybind\n==============\n\n.. start-badges\n\n.. image:: https://travis-ci.com/yijiangh/ikfast_pybind.svg?branch=master\n    :target: https://travis-ci.com/yijiangh/ikfast_pybind\n    :alt: Travis CI\n\n.. image:: https://img.shields.io/github/license/yijiangh/conmech\n    :target: ./LICENSE\n    :alt: License MIT\n\n.. image:: https://img.shields.io/badge/python-2.5+|3.x-blue\n    :target: https://pypi.org/project/ikfast_pybind/\n    :alt: PyPI - Python Version\n\n.. image:: https://img.shields.io/badge/pypi-v0.0.1-orange\n    :target: https://pypi.org/project/ikfast_pybind/\n    :alt: PyPI - Latest Release\n\n\n**ikfast_pybind** is a python binding generation library for the analytic kinematics engine `IKfast <http://openrave.org/docs/1.8.2/openravepy/ikfast/>`__. \nThe python bindings are generated via `pybind11 <https://github.com/pybind/pybind11>`_ a `CMake <https://cmake.org/>`_-based build system.\n\n**Note:** You need the ikfast `.h` and `.cpp` ready to generate the python bindings. This *URDF-to-cpp* generation part needs to be done with `openrave` and **IS NOT** done by this repo, \nplease see `this tutorial <http://docs.ros.org/kinetic/api/framefab_irb6600_support/html/doc/ikfast_tutorial.html>`_ for details.\n\nThe assembly sequence and motion planning framework `pychoreo <https://github.com/yijiangh/pychoreo>`_ \nrelies on this library to generate compatible IK modules for robots across brands, scales, and dofs.\n\nPrerequisites\n-------------\n\n*ikfast_pybind* depends on the following dependencies, which come from pybind11 for building the python bindings.\n\n**On Unix (Linux, OS X)**\n\n* A compiler with C++11 support\n* CMake >= 2.8.12\n\n**On Windows**\n\n* Visual Studio 2015 (required for all Python versions, see notes below)\n* CMake >= 3.1\n\n**It is recommended (especially for Windows users) to test the environment with the**\n`cmake_example for pybind11 <https://github.com/pybind/cmake_example>`_ **before proceeding to build conmech.**\n\nInstallation\n------------\n\n::\n\n  git clone --recursive https://github.com/yijiangh/ikfast_pybind\n  cd ikfast_pybind\n  pip install .\n  # try with '--user' if you encountered a sudo problem\n\nFor developers:\n\n::\n\n  git clone --recursive https://github.com/yijiangh/ikfast_pybind\n  cd ikfast_pybind\n  python setup.py sdist\n  pip install --verbose dist/*.tar.gz\n\nWith the ``setup.py`` file included in the base folder, the pip install command will invoke CMake and build the pybind11 module as specified in CMakeLists.txt.\n\nReferences\n----------\n\nCitation\n^^^^^^^^\n\nIf you find `IKFast <http://openrave.org/docs/0.8.2/openravepy/ikfast/>`__ useful, \nplease cite `OpenRave <http://openrave.org/>`_:\n\n::\n\n  @phdthesis{diankov_thesis,\n    author = \"Rosen Diankov\",\n    title = \"Automated Construction of Robotic Manipulation Programs\",\n    school = \"Carnegie Mellon University, Robotics Institute\",\n    month = \"August\",\n    year = \"2010\",\n    number= \"CMU-RI-TR-10-29\",\n    url={http://www.programmingvision.com/rosen_diankov_thesis.pdf},\n  }\n\nRelated links\n^^^^^^^^^^^^^\n\n`tutorial on ikfast cpp generation <http://docs.ros.org/kinetic/api/framefab_irb6600_support/html/doc/ikfast_tutorial.html>`_: See this tutorial for a detailed instruction on how to generate the ikfast cpp code from an URDF.\n\n`Testing ikfast modules with a pick-n-place demo in pybullet <https://github.com/yijiangh/conrob_pybullet/tree/master/debug_examples>`_\n\npybind11_\n\n\nChangelog\n=========\n\nAll notable changes to this project will be documented in this file.\n\nThe format is based on `Keep a Changelog <http://keepachangelog.com/en/1.0.0/>`_\nand this project adheres to `Semantic Versioning <http://semver.org/spec/v2.0.0.html>`_.\n\n0.1.0\n----------\n**Available robots**\n- kuka_kr6_r900 (tested)\n- ur3\n- ur5\n- abb_irb4600_40_255\n- franka_panda (tested)\n- eth_rfl (tested)\n\n**Added**\nModules for `franka_panda`, `eth_rfl` robots.\n\nAdd ifkast modules for `ur5`, `kuka_kr6_r900`, `abb_irb4600`. `abb_irb4600` test fails some time randomly - need to regenerate its IKfast cpp files (might be the floating point truncation issue).\n\nInclude the upstreamed `ur_kinematics commit 6734142 July 2 2019 <https://github.com/ros-industrial/universal_robot/tree/9eccd19077c2e7b853e3a3215bce9f38b77adda5/ur_kinematics>`__\nbut it seems that the old one works more stably... I will do more tests on this.\n\n",
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