{
    "info": {
        "author": "lanius",
        "author_email": "lanius@nirvake.org",
        "bugtrack_url": null,
        "classifiers": [
            "Development Status :: 3 - Alpha",
            "Intended Audience :: Developers",
            "License :: OSI Approved :: MIT License",
            "Programming Language :: Python :: 2",
            "Programming Language :: Python :: 2.7",
            "Programming Language :: Python :: 3",
            "Programming Language :: Python :: 3.5"
        ],
        "description": "Tinyik\r\n======\r\n\r\nTinyik is a simple and naive inverse kinematics solver.\r\n\r\nIt defines an actuator as a set of links and revolute joints from an origin. Here is an example of a robot arm that consists of two joints that rotate around z-axis and two links of 1.0 length along x-axis:\r\n\r\n.. code-block:: python\r\n\r\n    >>> import tinyik\r\n    >>> arm = tinyik.Actuator(['z', [1., 0., 0.], 'z', [1., 0., 0.]])\r\n\r\nSince the joint angles are zero by default, the end-effector position is at (2.0, 0, 0):\r\n\r\n.. code-block:: python\r\n\r\n    >>> arm.angles\r\n    array([ 0.,  0.])\r\n    >>> arm.ee\r\n    array([ 2.,  0.,  0.])\r\n\r\nSets the joint angles to 30 and 60 degrees to calculate a new position of the end-effector:\r\n\r\n.. code-block:: python\r\n\r\n    >>> import numpy as np\r\n    >>> arm.angles = [np.pi / 6, np.pi / 3]  # or np.deg2rad([30, 60])\r\n    >>> arm.ee\r\n    array([ 0.8660254,  1.5      ,  0.       ])\r\n\r\nSets a position of the end-effector to calculate the joint angles:\r\n\r\n.. code-block:: python\r\n\r\n    >>> arm.ee = [2 / np.sqrt(2), 2 / np.sqrt(2), 0.]\r\n    >>> arm.angles\r\n    array([  7.85398147e-01,   3.23715739e-08])\r\n    >>> np.round(np.rad2deg(arm.angles))\r\n    array([ 45.,   0.])\r\n\r\n\r\nInstallation\r\n------------\r\n\r\n.. code-block:: console\r\n\r\n    $ pip install tinyik",
        "description_content_type": null,
        "docs_url": null,
        "download_url": "UNKNOWN",
        "downloads": {
            "last_day": -1,
            "last_month": -1,
            "last_week": -1
        },
        "home_page": "http://github.com/lanius/tinyik",
        "keywords": null,
        "license": "MIT",
        "maintainer": null,
        "maintainer_email": null,
        "name": "tinyik",
        "package_url": "https://pypi.org/project/tinyik/",
        "platform": "UNKNOWN",
        "project_url": "https://pypi.org/project/tinyik/",
        "project_urls": {
            "Download": "UNKNOWN",
            "Homepage": "http://github.com/lanius/tinyik"
        },
        "release_url": "https://pypi.org/project/tinyik/1.2.0/",
        "requires_dist": null,
        "requires_python": null,
        "summary": "A tiny inverse kinematics solver",
        "version": "1.2.0"
    },
    "last_serial": 2597862,
    "releases": {
        "0.0.1": [
            {
                "comment_text": "",
                "digests": {
                    "md5": "7775a9d687f30348f716276dd14bd31b",
                    "sha256": "8fe4fa303e1e3f9c604d17e166ac8e1f65066adcfed6f0d6a7c9b1bec1c6374a"
                },
                "downloads": -1,
                "filename": "tinyik-0.0.1-py2.py3-none-any.whl",
                "has_sig": false,
                "md5_digest": "7775a9d687f30348f716276dd14bd31b",
                "packagetype": "bdist_wheel",
                "python_version": "2.7",
                "requires_python": null,
                "size": 4790,
                "upload_time": "2016-02-09T17:06:44",
                "url": "https://files.pythonhosted.org/packages/4d/e0/d09374dae9e92a1c4b2fd494ba054095e57c097dae6e33a43f858cb2fb67/tinyik-0.0.1-py2.py3-none-any.whl"
            },
            {
                "comment_text": "",
                "digests": {
                    "md5": "fe4e21bff5f4773808c56fd25d72c20f",
                    "sha256": "85916b3c4d3d636e64c390a5431dc03fa26be92ea8f5d5edcb7679c5ab4e9036"
                },
                "downloads": -1,
                "filename": "tinyik-0.0.1.zip",
                "has_sig": false,
                "md5_digest": "fe4e21bff5f4773808c56fd25d72c20f",
                "packagetype": "sdist",
                "python_version": "source",
                "requires_python": null,
                "size": 7471,
                "upload_time": "2016-02-09T17:06:38",
                "url": "https://files.pythonhosted.org/packages/ec/08/74ec17c7232e053b6b38c82411a30161d115e13630b31f81b1e09d6cca88/tinyik-0.0.1.zip"
            }
        ],
        "0.1.0": [
            {
                "comment_text": "",
                "digests": {
                    "md5": "1001fb06f3c75a3891cce5ec789690e1",
                    "sha256": "a69fe044e21be091417a2c3a950611c3aff210108488c6fee513440e8370427a"
                },
                "downloads": -1,
                "filename": "tinyik-0.1.0-py2.py3-none-any.whl",
                "has_sig": false,
                "md5_digest": "1001fb06f3c75a3891cce5ec789690e1",
                "packagetype": "bdist_wheel",
                "python_version": "2.7",
                "requires_python": null,
                "size": 4979,
                "upload_time": "2016-02-26T17:18:18",
                "url": "https://files.pythonhosted.org/packages/8a/a4/1715bf64756a2b0b29de92df585d70308f2ea78b8fe204e1cd87377e11aa/tinyik-0.1.0-py2.py3-none-any.whl"
            },
            {
                "comment_text": "",
                "digests": {
                    "md5": "e81418581490f97649bbe53f4ea28c04",
                    "sha256": "e730b93c10ff3c859e20d54b3dfb8e6c0e47640d7add9899e26eff26ca04c753"
                },
                "downloads": -1,
                "filename": "tinyik-0.1.0.zip",
                "has_sig": false,
                "md5_digest": "e81418581490f97649bbe53f4ea28c04",
                "packagetype": "sdist",
                "python_version": "source",
                "requires_python": null,
                "size": 7723,
                "upload_time": "2016-02-26T17:18:12",
                "url": "https://files.pythonhosted.org/packages/b7/89/de51dcf40f032a867b67809e54c81d9155be47f8d46c439bcf60bcade608/tinyik-0.1.0.zip"
            }
        ],
        "1.0.0": [
            {
                "comment_text": "",
                "digests": {
                    "md5": "640d43611a6a311207fc75e419267635",
                    "sha256": "515c86f2982e71265b35f09980e6ee40703f83609e9ce6a8c737c25161480184"
                },
                "downloads": -1,
                "filename": "tinyik-1.0.0-py2.py3-none-any.whl",
                "has_sig": false,
                "md5_digest": "640d43611a6a311207fc75e419267635",
                "packagetype": "bdist_wheel",
                "python_version": "2.7",
                "requires_python": null,
                "size": 5344,
                "upload_time": "2016-02-26T18:42:39",
                "url": "https://files.pythonhosted.org/packages/c8/cd/6938e4d6bbbdeec1caf8bf3fb3f4b374b6f99933890c35c3b8d04f766fd9/tinyik-1.0.0-py2.py3-none-any.whl"
            },
            {
                "comment_text": "",
                "digests": {
                    "md5": "f2c87cdfe7b8f3a2a35b8deed41cb566",
                    "sha256": "1235f85648682101564758f9477a80f7cda43d70075923eb571999252f735329"
                },
                "downloads": -1,
                "filename": "tinyik-1.0.0.zip",
                "has_sig": false,
                "md5_digest": "f2c87cdfe7b8f3a2a35b8deed41cb566",
                "packagetype": "sdist",
                "python_version": "source",
                "requires_python": null,
                "size": 8128,
                "upload_time": "2016-02-26T18:42:32",
                "url": "https://files.pythonhosted.org/packages/c1/68/604dd5e3424afb588732984f9bebc61e2a6a991eb67d119182e49748a98c/tinyik-1.0.0.zip"
            }
        ],
        "1.1.0": [
            {
                "comment_text": "",
                "digests": {
                    "md5": "16797b4ad8345bf4b68752031f4b0470",
                    "sha256": "85ee7410e8116fda37c547f29c4430791893a3a063ef1ff44883fbef65a25a68"
                },
                "downloads": -1,
                "filename": "tinyik-1.1.0-py2.py3-none-any.whl",
                "has_sig": false,
                "md5_digest": "16797b4ad8345bf4b68752031f4b0470",
                "packagetype": "bdist_wheel",
                "python_version": "2.7",
                "requires_python": null,
                "size": 6218,
                "upload_time": "2016-03-21T16:16:23",
                "url": "https://files.pythonhosted.org/packages/89/f4/31756e68b459eb1237f797100c2fbe19cfd797af68b372bb5edf86b88f87/tinyik-1.1.0-py2.py3-none-any.whl"
            },
            {
                "comment_text": "",
                "digests": {
                    "md5": "5ccd645d6d4e5f54d0c4174f2e2f7404",
                    "sha256": "c5e19d9cfd7a289384ad4f3d9aa551d476660c6cc0b77e2bf4f35acab2cd08ca"
                },
                "downloads": -1,
                "filename": "tinyik-1.1.0.zip",
                "has_sig": false,
                "md5_digest": "5ccd645d6d4e5f54d0c4174f2e2f7404",
                "packagetype": "sdist",
                "python_version": "source",
                "requires_python": null,
                "size": 9017,
                "upload_time": "2016-03-21T16:15:54",
                "url": "https://files.pythonhosted.org/packages/e3/2d/ea08cba6e0e5947c88d3700111b0fa75db166e33fdf22fe1d127280d6fbf/tinyik-1.1.0.zip"
            }
        ],
        "1.2.0": [
            {
                "comment_text": "",
                "digests": {
                    "md5": "a004b9f6185147e735452fcf8bddfb3e",
                    "sha256": "c4979d4684f63a22b216e8dd76bafb6edc362ccb3944a07fd79c2c4a17dc4f51"
                },
                "downloads": -1,
                "filename": "tinyik-1.2.0-py2.py3-none-any.whl",
                "has_sig": false,
                "md5_digest": "a004b9f6185147e735452fcf8bddfb3e",
                "packagetype": "bdist_wheel",
                "python_version": "2.7",
                "requires_python": null,
                "size": 6653,
                "upload_time": "2017-01-25T16:42:15",
                "url": "https://files.pythonhosted.org/packages/98/ec/6fa93d1bb0356a28ffff23de4ee9b4ebb0337f91fc5999578ec2b8284c94/tinyik-1.2.0-py2.py3-none-any.whl"
            },
            {
                "comment_text": "",
                "digests": {
                    "md5": "d47b197324c1270854ca0419c1d78882",
                    "sha256": "3ed1538682e9770111e3c5f4be859cbb650ece935cc06b5adbdf5fe105ab9c67"
                },
                "downloads": -1,
                "filename": "tinyik-1.2.0.zip",
                "has_sig": false,
                "md5_digest": "d47b197324c1270854ca0419c1d78882",
                "packagetype": "sdist",
                "python_version": "source",
                "requires_python": null,
                "size": 10497,
                "upload_time": "2017-01-25T16:42:13",
                "url": "https://files.pythonhosted.org/packages/1d/66/5b2f3b9c9427a6a319ddef8678b0274a620316e2f38ddcdb2c73e83e471e/tinyik-1.2.0.zip"
            }
        ]
    },
    "urls": [
        {
            "comment_text": "",
            "digests": {
                "md5": "a004b9f6185147e735452fcf8bddfb3e",
                "sha256": "c4979d4684f63a22b216e8dd76bafb6edc362ccb3944a07fd79c2c4a17dc4f51"
            },
            "downloads": -1,
            "filename": "tinyik-1.2.0-py2.py3-none-any.whl",
            "has_sig": false,
            "md5_digest": "a004b9f6185147e735452fcf8bddfb3e",
            "packagetype": "bdist_wheel",
            "python_version": "2.7",
            "requires_python": null,
            "size": 6653,
            "upload_time": "2017-01-25T16:42:15",
            "url": "https://files.pythonhosted.org/packages/98/ec/6fa93d1bb0356a28ffff23de4ee9b4ebb0337f91fc5999578ec2b8284c94/tinyik-1.2.0-py2.py3-none-any.whl"
        },
        {
            "comment_text": "",
            "digests": {
                "md5": "d47b197324c1270854ca0419c1d78882",
                "sha256": "3ed1538682e9770111e3c5f4be859cbb650ece935cc06b5adbdf5fe105ab9c67"
            },
            "downloads": -1,
            "filename": "tinyik-1.2.0.zip",
            "has_sig": false,
            "md5_digest": "d47b197324c1270854ca0419c1d78882",
            "packagetype": "sdist",
            "python_version": "source",
            "requires_python": null,
            "size": 10497,
            "upload_time": "2017-01-25T16:42:13",
            "url": "https://files.pythonhosted.org/packages/1d/66/5b2f3b9c9427a6a319ddef8678b0274a620316e2f38ddcdb2c73e83e471e/tinyik-1.2.0.zip"
        }
    ]
}