jrl-dynamics

This software implements the interfaces for dynamics computation specified in the abstract-robot-dynamics package.

The algorithm implemented by this package is the recursive Newton-Euler algorithm.

It also provides tools to parse an extended VRML file into a robot as defined by the abstract robot dynamics specifications.

Setup

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..
make install

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

Dependencies

The matrix abstract layer depends on several packages which have to be available on your machine.

• Libraries:
  • Boost (>= 1.33.1) Boost Spirit is used to parse VRML robot models.
  • jrl-mal (>= 1.8.3) The matrix abstract layer to abstract the numerical types used by jrl-dynamic in order to make it easily pluggable into a larger robotics framework.
  • abstract-robot-dynamics (>= 1.16) The abstract robot dynamics interface are implemented by this package.
• System tools:
  • CMake (>=2.6)
  • pkg-config
  • usual compilation tools (GCC/G++, make, etc.)

Release notes

The main goal of the recent modifications is a strict compliance to abstract-robot-dynamics. Therefore any code relying on direct access to jrl-dynamic old structures will not compile with this new version.

Moreover, this version includes a normalization of all the joint to revolute around the x-axis. This implies a modification of all the local frames.

Finally they are some modifications on the parser which allow to get geometrical information on the parsed robot model.

Depending on the transformation applied to the VRML files you might have to compensate for some local rotation (for instance the left grippers of HRP-2 10 & 14).

The parser provides the rotation on the local frames to compensate for those transformations.

In tools, you can find a program called CreateVRMLPoseFile. It takes the usual files plus an additional one specifying the pose of the robot. From those files, it generates a VRML file that can be imported in Blender.