Rigid Body Dynamics Library using Tensorflow.
Project description
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
- See examples/general_usage.py for details.
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_3820491,
author = {Junhyeok Ahn},
title = {junhyeokahn/tf\_rbdl: tf\_rbdl-v1.1.0},
month = may,
year = 2020,
publisher = {Zenodo},
version = {v1.1.0},
doi = {10.5281/zenodo.3820491},
url = {https://doi.org/10.5281/zenodo.3820491}
}
Todo
- Write examples
- Parse urdf
Acknowledgement
This library is based on the book Modern Robotics and the code.
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