README.md

COMPAS II: Robot model

Models from URDF, programmatic models.

Robot model visualization in CAD.

Forward and inverse kinematics of open chain manipulators.

👉 Slides 📜 Assignment 02

Examples

• Robot Model

  • URDF: visualization
  • URDF with meshes: visualization
  • Load from local files
  • Load from Github package
  • Load from Github package: visualization
  • Load and update: visualization
  • Load and update: visualization in GH
  • Load from ROS
  • Define programmatically
  • Build your own model

• Kinematics

  • Joint types
  • Configuration
  • Forward kinemativs
  • Forward kinematics: visualization
  • Inverse kinematics
  • Inverse kinematics: visualization
  • Inverse kinematics: interactive in GH
  • Inverse kinematics: custom solver from DH parameters
  • Forward kinematics using ROS
  • Inverse kinematics using ROS