kidy is a library for kinematics and dynamics of multi-body.

kidy = kinematics + dynamics

get started

use kidy::*;

fn main() {
    let robot = MultiBody::from_urdf("path/to/urdf").unwrap();
    let chain = multi_body.get_kidy_chain::<7>("base_link0", "robot_hand");
}

lib.rs:

kidy is a library for kinematics and dynamics of multi-body.

kidy = kinematics + dynamics