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https://github.com/advrhumanoids/casadi_kin_dyn

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

https://github.com/advrhumanoids/casadi_kin_dyn

Science Score: 26.0%

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    CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
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    .zenodo.json file
    Found .zenodo.json file
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    DOI references
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  • ○
    Scientific vocabulary similarity
    Low similarity (4.6%) to scientific vocabulary

Keywords from Contributors

cartesian-controller inverse-kinematics ros
Last synced: 10 months ago · JSON representation

Repository

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

Basic Info
  • Host: GitHub
  • Owner: ADVRHumanoids
  • Language: CMake
  • Default Branch: master
  • Size: 133 KB
Statistics
  • Stars: 113
  • Watchers: 8
  • Forks: 12
  • Open Issues: 3
  • Releases: 0
Created over 6 years ago · Last pushed about 1 year ago
Metadata Files
Readme

README.md

casadikindyn

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

Dependencies

  • casadi 3.4.5, built from source is highly recommended on ubuntu 16.04 and later (however, check with pip show casadi)
  • pinocchio latest devel branch (mandatory)
  • pybind11 for generating python bindings
  • urdfdom (tested on ROS Kinetic)

Usage (python)

``` python

!/usr/bin/env python

from casadi import * import casadikindyn.pycasadikindyn as caskindyn

urdf = rospy.getparam('robotdescription') # get urdf as string kindyn = caskindyn.CasadiKinDyn(urdf) # construct main class

fkstr = kindyn.fk('baselink') fk = Function.deserialize(fk_str) print(fk)

idstr = kindyn.rnea() id = Function.deserialize(idstr) print(id) ```

Output on a 5-dof system:

forward_kinematics:(q[5])->(ee_pos[3],ee_rot[3x3]) SXFunction rnea:(q[5],v[5],a[5])->(tau[5]) SXFunction

Owner

  • Name: ADVR Humanoids
  • Login: ADVRHumanoids
  • Kind: organization
  • Email: luca.muratore@iit.it
  • Location: Istituto Italiano di Tecnologia

Humanoids & Human Centered Mechatronics, HHCM, IIT

GitHub Events

Total
  • Watch event: 26
  • Member event: 1
  • Push event: 5
  • Fork event: 2
  • Create event: 1
Last Year
  • Watch event: 26
  • Member event: 1
  • Push event: 5
  • Fork event: 2
  • Create event: 1

Committers

Last synced: 12 months ago

All Time
  • Total Commits: 37
  • Total Committers: 4
  • Avg Commits per committer: 9.25
  • Development Distribution Score (DDS): 0.568
Past Year
  • Commits: 0
  • Committers: 0
  • Avg Commits per committer: 0.0
  • Development Distribution Score (DDS): 0.0
Top Committers
Name Email Commits
EnricoMingo e****o@g****m 16
Arturo Laurenzi a****i@i****t 14
matteoparigi m****i@i****t 6
FrancescoRuscelli f****4@g****m 1
Committer Domains (Top 20 + Academic)
iit.it: 2

Issues and Pull Requests

Last synced: 12 months ago

All Time
  • Total issues: 2
  • Total pull requests: 2
  • Average time to close issues: N/A
  • Average time to close pull requests: less than a minute
  • Total issue authors: 2
  • Total pull request authors: 2
  • Average comments per issue: 0.5
  • Average comments per pull request: 0.0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 1
  • Pull requests: 0
  • Average time to close issues: N/A
  • Average time to close pull requests: N/A
  • Issue authors: 1
  • Pull request authors: 0
  • Average comments per issue: 1.0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • UM-A (1)
  • jcarpent (1)
Pull Request Authors
  • lvjonok (2)
  • VModugno (1)
Top Labels
Issue Labels
Pull Request Labels

Packages

  • Total packages: 1
  • Total downloads:
    • pypi 60 last-month
  • Total dependent packages: 0
  • Total dependent repositories: 1
  • Total versions: 9
  • Total maintainers: 1
pypi.org: casadi-kin-dyn

Package for generation of symbolic (casadi::SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

  • Versions: 9
  • Dependent Packages: 0
  • Dependent Repositories: 1
  • Downloads: 60 Last month
Rankings
Stargazers count: 8.3%
Dependent packages count: 10.1%
Downloads: 10.3%
Forks count: 11.4%
Average: 12.4%
Dependent repos count: 21.6%
Maintainers (1)
arturo.laurenzi
Last synced: 11 months ago