https://github.com/advrhumanoids/casadi_kin_dyn
Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
https://github.com/advrhumanoids/casadi_kin_dyn
Last synced: 11 months ago
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Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
- Host: GitHub
- URL: https://github.com/advrhumanoids/casadi_kin_dyn
- Owner: ADVRHumanoids
- Created: 2019-10-23T08:42:23.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2025-06-06T06:44:25.000Z (about 1 year ago)
- Last Synced: 2025-06-06T07:29:41.290Z (about 1 year ago)
- Language: CMake
- Size: 131 KB
- Stars: 112
- Watchers: 8
- Forks: 12
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
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README
# casadi_kin_dyn
Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
## Dependencies
- `casadi` 3.4.5, built from source is highly recommended on ubuntu 16.04 and later (however, check with `pip show casadi`)
- `pinocchio` latest devel branch (mandatory)
- `pybind11` for generating python bindings
- `urdfdom` (tested on ROS Kinetic)
## Usage (python)
``` python
#!/usr/bin/env python
from casadi import *
import casadi_kin_dyn.pycasadi_kin_dyn as cas_kin_dyn
urdf = rospy.get_param('robot_description') # get urdf as string
kindyn = cas_kin_dyn.CasadiKinDyn(urdf) # construct main class
fk_str = kindyn.fk('base_link')
fk = Function.deserialize(fk_str)
print(fk)
id_str = kindyn.rnea()
id = Function.deserialize(id_str)
print(id)
```
Output on a 5-dof system:
```
forward_kinematics:(q[5])->(ee_pos[3],ee_rot[3x3]) SXFunction
rnea:(q[5],v[5],a[5])->(tau[5]) SXFunction
```