Cmeel distribution of a package for generation of symbolic (casadi::SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
Project description
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-commit
to prettify repository - Added
torque
,potentialEnergy
,kineticEnergy
regressors - Added
jacobian time derivative
mapping - Added
jacobian of CoM
mapping
v1.6.7
- Added ability to set
root_joint
toFreeFlyer
joint
v1.6.8
root_joint
is now transformed to enum that can be freely extended with Pinocchio JointModel types.
v1.6.9
- One can now fix
floating
joints 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])},
)
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