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: 2 days 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 (about 5 years ago)
• Default Branch: master
• Last Pushed: 2024-05-19T07:17:36.000Z (6 months ago)
• Last Synced: 2024-10-29T01:10:27.807Z (17 days ago)
• Language: CMake
• Size: 125 KB
• Stars: 88
• 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

```