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 to FreeFlyer 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])},
)

v1.6.10

• Derivatives of centroidal dynamics are exposed from pinocchio::computeCentroidalDynamicsDerivatives

1.6.11

• Added collision handler which binds distance and jacobian functions with the use of hpp-fcl library.