Generates Julia code for closed-form robot kinematics and dynamics functions. Uses Pinocchio for kinematics and dynamics solutions and CasADi for code generation.
- Compile and install the casadi_kin_dyn package.
- Clone this repo.
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In the pinocchio_kinematics.py file, set the
urdf_path
variable to the path of the URDF of your robot. -
You can then follow the Digit example in pinocchio_kinematics.py to generate kinematics and dynamics MATLAB functions for your robot.
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Use the
convert_matlab_kinematics_to_julia
function in convert_to_julia.jl to convert the generated MATLAB functions to Julia functions.