- A repository of robot models built with Pinocchio and CasADi.
- To build CasADi function of own robot model, please refer to "urdf2modelcasadi" (https://github.com/alejandroastudillo/urdf2modelcasadi)
Inspired by Robot-models-meco, Meco team, KU Leuven (https://gitlab.kuleuven.be/meco-software/robot-models-meco)
- clone
git clone https://github.com/SHKim-HYU/robot-model-hyu.git
- Execute
pip install .
| Robot | Degrees of freedom | Alias |
|---|---|---|
| UR10 | 6 | ur10 |
| KUKA KR5 | 6 | kr5 |
| KUKA KR60 | 6 | kr60 |
| Kinova Gen3 | 7 | kinova |
| KUKA iiwa7 | 7 | iiwa7 |
| KUKA iiwa14 | 7 | iiwa14 |
| Franka Panda (without gripper) | 7 | franka_panda |
| Franka Panda | 9 | franka_panda_with_gripper |
| ABB Yumi | 18 | yumi |
| Atlas | 32 | atlas |
| MMO-500 | 9 | mmo_500 |
| SoftArm | 11 | softarm |
| xArm6 | 6 | xarm6 |
| M0609 | 6 | m0609 |
| Indy7 | 6 | indy7 |
| Indy-RP2 | 7 | indy_rp2 |
For every robot in the table, this repository includes functions for:
- Forward dynamics(q, qdot, tau)
- Inverse dynamics(q, qdot, qddot)
- Mass matrix(q)
- Mass inverse matrix(q)
- Coriollis(q, qdot)
- Gravity(q)
- Forward kinematics(q)[0:ndof]
- Space Jacobian(q)
- Body Jacobian(q)
- Analytical derivatives of forward dynamics
- Analytical derivatives of inverse dynamics