casadi_kin_dyn
Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
What has changed?
In comparison to the original casadi_kin_dyn repository, such changes were made:
- Migration to
cmeel-based packaging - Use
pre-committo prettify repository - Added
torque,potentialEnergy,kineticEnergyregressors - Added
jacobian time derivativemapping - Added
jacobian of CoMmapping
v1.6.7
- Added ability to set
root_jointtoFreeFlyerjoint
v1.6.8
root_jointis now transformed to enum that can be freely extended with Pinocchio JointModel types.
v1.6.9
- One can now fix
floatingjoints in the model by passing a list of[x, y, z, qvx, qvy, qvz, qs].
import casadi_kin_dyn.casadi_kin_dyn as cas_kin_dyn
kindyn = cas_kin_dyn.CasadiKinDyn(
urdf,
root_joint=cas_kin_dyn.CasadiKinDyn.JointType.OMIT,
fixed_joints={"floating_base_joint": np.array([0, 0, 0, 0, 0, 0, 1])},
)
v1.6.10
- Derivatives of centroidal dynamics are exposed from
pinocchio::computeCentroidalDynamicsDerivatives
1.6.11
- Added collision handler which binds
distanceandjacobianfunctions with the use of hpp-fcl library.
1 maintainer
Metadata
1 maintainer
Release files for cmeel-casadi-kin-dyn 1.6.14
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| cmeel_casadi_kin_dyn-1.6.14-0-cp311-cp311-manylinux_2_28_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.28+ x86-64 | Details |
| cmeel_casadi_kin_dyn-1.6.14-0-cp310-cp310-manylinux_2_28_x86_64.whl | CPython 3.10 | CPython 3.10 | Linux glibc 2.28+ x86-64 | Details |
| cmeel_casadi_kin_dyn-1.6.14-0-cp39-cp39-manylinux_2_28_x86_64.whl | CPython 3.9 | CPython 3.9 | Linux glibc 2.28+ x86-64 | Details |
Total release size: 9.3 MB
Release files / cmeel_casadi_kin_dyn-1.6.14-0-cp311-cp311-manylinux_2_28_x86_64.whl
| Download URL | cmeel_casadi_kin_dyn-1.6.14-0-cp311-cp311-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 3.1 MB |
| Tags | CPython 3.11 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
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twine/5.1.0 CPython/3.10.12
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Release files / cmeel_casadi_kin_dyn-1.6.14-0-cp310-cp310-manylinux_2_28_x86_64.whl
| Download URL | cmeel_casadi_kin_dyn-1.6.14-0-cp310-cp310-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 3.1 MB |
| Tags | CPython 3.10 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
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Release files / cmeel_casadi_kin_dyn-1.6.14-0-cp39-cp39-manylinux_2_28_x86_64.whl
| Download URL | cmeel_casadi_kin_dyn-1.6.14-0-cp39-cp39-manylinux_2_28_x86_64.whl |
|---|---|
| Size | 3.1 MB |
| Tags | CPython 3.9 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
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twine/5.1.0 CPython/3.10.12
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