{"id":19963278,"url":"https://github.com/advrhumanoids/casadi_kin_dyn","last_synced_at":"2025-08-01T04:38:41.775Z","repository":{"id":37758878,"uuid":"217009689","full_name":"ADVRHumanoids/casadi_kin_dyn","owner":"ADVRHumanoids","description":"Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.","archived":false,"fork":false,"pushed_at":"2025-06-06T06:44:25.000Z","size":134,"stargazers_count":112,"open_issues_count":3,"forks_count":12,"subscribers_count":8,"default_branch":"master","last_synced_at":"2025-06-06T07:29:41.290Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"CMake","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2019-10-23T08:42:23.000Z","updated_at":"2025-05-18T09:14:27.000Z","dependencies_parsed_at":"2024-12-06T16:35:33.643Z","dependency_job_id":"a4180ead-f2bf-4aa7-92d7-8a113c039642","html_url":"https://github.com/ADVRHumanoids/casadi_kin_dyn","commit_stats":{"total_commits":37,"total_committers":5,"mean_commits":7.4,"dds":0.5675675675675675,"last_synced_commit":"697bcbb0ad7447f35ad3c02251a82b6442d66652"},"previous_names":[],"tags_count":20,"template":false,"template_full_name":null,"purl":"pkg:github/ADVRHumanoids/casadi_kin_dyn","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasadi_kin_dyn","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasadi_kin_dyn/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasadi_kin_dyn/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasadi_kin_dyn/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/casadi_kin_dyn/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2Fcasadi_kin_dyn/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":265251012,"owners_count":23734844,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:28.433Z","updated_at":"2025-07-14T06:08:22.632Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":"CMake","funding_links":[],"categories":[],"sub_categories":[],"readme":"# casadi_kin_dyn\nPackage for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.\n\n## Dependencies\n- `casadi` 3.4.5, built from source is highly recommended on ubuntu 16.04 and later (however, check with `pip show casadi`)\n- `pinocchio` latest devel branch (mandatory)\n- `pybind11` for generating python bindings\n- `urdfdom` (tested on ROS Kinetic)\n\n## Usage (python)\n``` python\n#!/usr/bin/env python\n\nfrom casadi import *\nimport casadi_kin_dyn.pycasadi_kin_dyn as cas_kin_dyn\n\nurdf = rospy.get_param('robot_description') # get urdf as string\nkindyn = cas_kin_dyn.CasadiKinDyn(urdf) # construct main class\n\nfk_str = kindyn.fk('base_link')\nfk = Function.deserialize(fk_str)\nprint(fk)\n\nid_str = kindyn.rnea()\nid = Function.deserialize(id_str)\nprint(id)\n```\n\nOutput on a 5-dof system:\n\n```\nforward_kinematics:(q[5])-\u003e(ee_pos[3],ee_rot[3x3]) SXFunction\nrnea:(q[5],v[5],a[5])-\u003e(tau[5]) SXFunction\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fcasadi_kin_dyn","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fcasadi_kin_dyn","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fcasadi_kin_dyn/lists"}