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urdf2casadi's Introduction

URDF2CASADI

Installation

  1. Get ROS (actually anything that installs urdfdom_py/urdf_parser_py will do)
  2. Get CasADi (e.g. pip install casadi)
  3. run pip install --user . in the folder

Usage example

import casadi as cs
from urdf2casadi import converter
fk_dict = converter.from_file("root", "gantry_tool0", "robot_urdf_file_path.urdf")
print fk_dict.keys()
# should give ['upper', 'T_fk', 'lower', 'q', 'joint_names', 'joint_list']
forward_kinematics = cs.Function("FK",[fk_dict["q"]],[fk_dict["T_fk"]])
print forward_kinematics([0.3, 0.3, 0.3, 0., 0.3, 0.7])

Todo/Implementation status

  • Forward kinematics with SE(3) matrix
  • Forward kinematics of rotation with quaternion
  • Dual Quaternions as alternative to SE(3) matrices
  • Dynamics from links and their inertia tags
  • Denavit Hartenberg?
  • unit tests
  • Examples

urdf2casadi's People

Contributors

lillmaria avatar mahaarbo avatar

Watchers

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