Skip to main content

Rigid Body Dynamics Library using Tensorflow.

Project description

DOI

tf_rbdl

tf_rbdl is a python library that contains some essential rigid body dynamics algorithms such as forward dynamics and inverse dynamics using Tensorflow. It uses Lie Group representation and provides kinematic and dynamics quatities of rigid body systems.

Examples

General Usages

Installation

You can install tf_rbdl from PyPI:

$ pip install tf_rbdl

or, you can also install from source:

$ git clone https://github.com/junhyeokahn/tf_rbdl
$ cd tf_rbdl
$ pip install -e .

Citation

@misc{junhyeok_ahn_2020_3828061,
  author       = {Junhyeok Ahn},
  title        = {junhyeokahn/tf\_rbdl: tf\_rbdl-v1.2.0},
  month        = may,
  year         = 2020,
  publisher    = {Zenodo},
  version      = {v1.2.0},
  doi          = {10.5281/zenodo.3828061},
  url          = {https://doi.org/10.5281/zenodo.3828061}
}

Todo

  • Write examples
  • Parse urdf

Acknowledgement

This library is based on the book Modern Robotics and the code.

Project details


Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distribution

tf_rbdl-2.0.3.tar.gz (10.6 kB view hashes)

Uploaded source

Built Distribution

tf_rbdl-2.0.3-py2.py3-none-any.whl (10.9 kB view hashes)

Uploaded py2 py3

Supported by

AWS AWS Cloud computing Datadog Datadog Monitoring Facebook / Instagram Facebook / Instagram PSF Sponsor Fastly Fastly CDN Google Google Object Storage and Download Analytics Huawei Huawei PSF Sponsor Microsoft Microsoft PSF Sponsor NVIDIA NVIDIA PSF Sponsor Pingdom Pingdom Monitoring Salesforce Salesforce PSF Sponsor Sentry Sentry Error logging StatusPage StatusPage Status page