Getting Started

Installation

See the GitHub page for installation instructions.

Loading Articulated Bodies with URDFs

URDF specifications get loaded into an ArticulatedBody object. This object is the central data structure of spatial-dyn.

C++

#include <spatial_dyn/spatial_dyn>

namespace dyn = spatial_dyn;

int main(int argc, char* argv[]) {
  // Load URDF model.
  dyn::ArticulatedBody ab(dyn::urdf::LoadModel("resources/robot.urdf"));

  // Set robot state.
  Eigen::VectorXd q;
  q << 0., 0., 0., 0., 0., 0.;
  ab.set_q(q);

  return 0;
}

See the C++ spatial_dyn::ArticulatedBody reference for more details.

Python

import numpy as np
import spatialdyn as dyn

# Load URDF model.
ab = dyn.ArticulatedBody(dyn.urdf.load_model("resources/robot.urdf"))

# Set robot state.
ab.q = np.zeros((6,))

See the Python spatialdyn.ArticulatedBody reference for more details.