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robotology / urdf2casadi-matlab

MIT License
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Extend support for fixed joints #5

Open singhbal-baljinder opened 3 years ago

singhbal-baljinder commented 3 years ago

Some urdf might have fixed joints along the kinematic chains. This should be dealt with appropriately. An example is the leg of iCub04.

singhbal-baljinder commented 3 years ago

In https://github.com/robotology/urdf2casadi-matlab/issues/14#issue-902932722 some problems were reported with urdf models with fixed joints. The function that should deal with this case https://github.com/robotology/urdf2casadi-matlab/blob/c91d729fd02309d5b600164665da604f78d1f23d/Utils/modelExtractionFunctions/accountForFixedJoint.m#L1-L65 should be checked more extensively with different models. In particular, for now it has been tested only with https://github.com/robotology/urdf2casadi-matlab/blob/master/URDFs/iCub_r_leg.urdf.