orocos_kinematics_dynamics
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orocos
Orocos Kinematics and Dynamics C++ library
My issue is similar to issue #74, in which I have problems with the 'Tree' object when using PyKDL. I cannot access some of the functions listed in the [API](https://docs.ros.org/en/melodic/api/orocos_kdl/html/classKDL_1_1Tree.html)....
The main purpose of this request is to add member functions to retrieve the singular values from the pseudoinverse velocity solver. These can be used to generate manipulability feedback to...
Added methodcode to the Chain class to throw an IndexError when trying to retrieve a segment that doesn't exist.
Hi, I am using KDL in the following way to obtain twist from two frames, for interpolation. ```cpp double dt = 0.001; KDL::Frame P_old, P_new; // Some code KDL::Vector vel...
Hi everyone, I was wondering, have there been some tests of how accurate the results from the ChainIdSolver_RNE are? I tested with a simple inverted pendulum in gazebo. I moved...
It seems to me that when ChainIkSolverPos_LMA returns E_INCREMENT_JOINTS_TOO_SMALL it is not actually an error but would be a desired result, yes? It indicates that the IK computation didnt require...
Greetings, orocos kdl is available upstream in Debian and Ubuntu and being added to rosdistro (https://github.com/ros/rosdistro/pull/23841). I also noticed that it's available via brew (https://formulae.brew.sh/formula/orocos-kdl). For the ROS 2 project,...
Hi all, First of all, thx for your amazing work! I just commit this minor change to your CMake. It's really good but I ran into two issues: The cmake...
Hi all, Is there any code to estimate the external wrench given the actual feedback torque and joint pos, vel, acc in KDL? Thanks!
When I use the ChainJntToJacSolver for calculating the jacobian of a robot Arm, which point is taken as the "endeffector"? Or more precisely: I have a robotic arm with lets...