TriP is a python library designed to calculate the forward- and inverse-kinematics of rigid mechanisms.

This includes open chains, closed chains, and even combinations of both.

• Model any robot (including closed and hybrid chains)
• Generate symbolic representations of forward kinematics
• Compute Jacobian matrices for differential kinematics
• Compute the inverse kinematics of arbitrary rigid mechanisms
• Compute the Inverse Kinematics in position and/or orientation
• Support arbitrary joint types and quaternions
• Includes several ready to use examples (TriPed robot, Excavator Arm)
• TriPs validates the inverse kinematics algorithms with extensive testing using analytic solutions.

Installing the latest release (recommended):

pip install trip-kinematics

Installing the lnewest version from source:

git clone https://github.com/TriPed-Robot/TriP
cd TriP
pip install src/

The documentation can be found here