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RoboticExplorationLab / TrajectoryOptimization.jl

A fast trajectory optimization library written in Julia
https://roboticexplorationlab.org
MIT License
323 stars 62 forks source link

model from urdf #23

Open firefly1250 opened 4 years ago

firefly1250 commented 4 years ago

How can I create a model from urdf file?

I found urdf files in this repository, but it seems examples for using urdf files are not implemented.

bjack205 commented 3 years ago

This is a good feature request. I've looked into this a couple times, interfacing the RigidBodyDynamics, but still haven't found a great solution. It's difficult to extract discrete dynamics Jacobians efficiently from RigidBodyDynamics. I might be worth at least adding the functionality, even if its not super efficient.