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        "description": "# <img src=\"https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/logo.png\" width=\"400\" />\n\n[![Build Status](https://travis-ci.org/neka-nat/kinpy.svg?branch=master)](https://travis-ci.org/neka-nat/kinpy)\n[![PyPI version](https://badge.fury.io/py/kinpy.svg)](https://badge.fury.io/py/kinpy)\n[![MIT License](http://img.shields.io/badge/license-MIT-blue.svg?style=flat)](LICENSE)\n[![Downloads](https://pepy.tech/badge/kinpy)](https://pepy.tech/project/kinpy)\n\nSimple kinematics body toolkit.\n\n## Core features\n\n* Pure python library.\n* Support URDF, SDF and MJCF file.\n* Calculate FK, IK and jacobian.\n\n## Installation\n\n```\npip install kinpy\n```\n\n## Getting started\nHere is a program that reads urdf and generates a kinematic chain.\n\n```\nimport kinpy as kp\n\nchain = kp.build_chain_from_urdf(open(\"kuka_iiwa/model.urdf\").read())\nprint(chain)\n# lbr_iiwa_link_0_frame\n#  \tlbr_iiwa_link_1_frame\n#  \t \tlbr_iiwa_link_2_frame\n#  \t \t \tlbr_iiwa_link_3_frame\n#  \t \t \t \tlbr_iiwa_link_4_frame\n#  \t \t \t \t \tlbr_iiwa_link_5_frame\n#  \t \t \t \t \t \tlbr_iiwa_link_6_frame\n#  \t \t \t \t \t \t \tlbr_iiwa_link_7_frame\n```\n\nDisplays the parameter names of joint angles included in the chain.\n\n```\nprint(chain.get_joint_parameter_names())\n# ['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']\n```\n\nGiven joint angle values, calculate forward kinematics.\n\n```\nimport math\nth = {'lbr_iiwa_joint_2': math.pi / 4.0, 'lbr_iiwa_joint_4': math.pi / 2.0}\nret = chain.forward_kinematics(th)\n```\n\nYou can get the position and orientation of each link.\n\n## Visualization\n\n### KUKA IIWA\n![kuka](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/kuka.png)\n\n### Mujoco humanoid\n![humanoid](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/humanoid.png)\n\n### Mujoco ant\n![ant](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/ant.png)\n\n### Simple arm\n![simple_arm](https://raw.githubusercontent.com/neka-nat/kinpy/master/assets/simple_arm.png)\n\n## Citing\n\n```\n@software{kinpy,\n    author = {{Kenta-Tanaka et al.}},\n    title = {kinpy},\n    url = {https://github.com/neka-nat/kinpy},\n    version = {0.0.3},\n    date = {2019-10-11},\n}\n```",
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