cdpyr.sandbox.kinematics.py

import cdpyr
from sample import robots

import timeit


def main():

    # sample robot to use
    r = robots.ipanema_cuboid()
    # a sample pose to use
    pose = cdpyr.motion.Pose()

    # our kinematics solver using the pulley-based kinematics
    kinsolver = cdpyr.algorithms.kinematics.KinematicsSolver.STANDARD

    structmatsolver = cdpyr.algorithms.structurematrix.StructureMatrixSolver

    # and solve it
    cable_length, cable_direction, unit_direction = kinsolver.backward(robot=r, pose=pose)
    # timeit.timeit(
    #     'kinsolver.backward(robot=r, pose=pose)',
    #     globals={
    #         'r': r,
    #         'pose': pose,
    #         'kinsolver': kinsolver
    #     }
    # )

    print(cable_length)
    print(cable_direction)
    print(unit_direction)


if __name__ == "__main__":
    main()

Create directory sandbox and place this content into file kinematics.py
Then just run it.