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 | 1 | initial version |
Here is an overview of the different libraries I am aware of.
For any of these algorithms, one may support or not:
More information:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
| | 2 | No.2 Revision |
Here is an overview a review of the different libraries I am aware of.of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
| | 3 | No.3 Revision |
Here is a review of the libraries I am aware of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
| | 4 | No.4 Revision |
Here is a review of the libraries I am aware of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
[1] Those two algorithms are currently bound to the RNEA algorithm which means it is not possible currently to compute these quantities without computing the dynamics information.
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
[1] These are handled through the composition of 1-dof joints + null mass bodies which makes the algorithm slower than what is possible when dealing with these kind of joints.
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
Thanks to Antonio El Khoury for his feedbacks and knowledge regarding state-of-the-Art dynamics libraries.
| | 5 | No.5 Revision |
Here is a review of the libraries I am aware of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
[1] Those two algorithms are currently bound to the RNEA algorithm which means it is not possible currently to compute these quantities without computing the dynamics information.
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
[1] These are handled through the composition of 1-dof joints (revolute or prismatic) + null mass bodies which
which makes the algorithm algorithms slower than what is possible when dealing with these kind of joints.
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
Thanks to Antonio El Khoury for his feedbacks and knowledge regarding state-of-the-Art dynamics libraries.
| | 6 | Add OpenRAVE |
Here is a review of the libraries I am aware of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
[1] Those two algorithms are currently bound to the RNEA algorithm which means it is not possible currently to compute these quantities without computing the dynamics information.
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
This motion planning library is able to provide kinematics and dynamics computation.
Algorithms:
Supported joints:
Features:
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
[1] These are handled through the composition of 1-dof joints (revolute or prismatic) + null mass bodies which makes the algorithms slower than what is possible when dealing with these kind of joints.
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
Thanks to Antonio El Khoury for his feedbacks and knowledge regarding state-of-the-Art dynamics libraries.
| | 7 | No.7 Revision |
Here is a review of the libraries I am aware of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
Bullet Collision Detection & Physics SDK
Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license.
Algorithms:
Supported joints:
Features:
Links:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
[1] Those two algorithms are currently bound to the RNEA algorithm which means it is not possible currently to compute these quantities without computing the dynamics information.
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
This motion planning library is able to provide kinematics and dynamics computation.
Algorithms:
Supported joints:
Features:
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
[1] These are handled through the composition of 1-dof joints (revolute or prismatic) + null mass bodies which makes the algorithms slower than what is possible when dealing with these kind of joints.
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
Thanks to Antonio El Khoury for his feedbacks and knowledge regarding state-of-the-Art dynamics libraries.
| | 8 | No.8 Revision |
Here is a review of the libraries I am aware of. I hope it will help you make your choice!
For any of these algorithms, one may support or not:
More information:
Bullet Collision Detection & Physics SDK
Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license.
Algorithms:
Supported joints:
Features:
Links:
The Kinematics and Dynamics library used by ROS core packages. Notably the robot_model one.
Algorithms:
Supported joints:
Features:
Links:
Metapod is a meta-programming dynamics computation library. The objective is to achieve high efficiency by assuming the robot model is known at compile-time. By doing so and by relying on advanced C++ techniques, dynamic allocation can be totally avoided and the compiler can achieve optimization that would not be possible in any other case.
Algorithms:
[1] Those two algorithms are currently bound to the RNEA algorithm which means it is not possible currently to compute these quantities without computing the dynamics information.
Supported joints:
Features:
[1] This Python script lives as a specific branch of robot_model_py for now. Due to Metapod specific design, loading an URDF model means in this context generating a C++ file which then will be compiled to use the robot-specific dynamic algorithm (RNEA).
Links:
This motion planning library is able to provide kinematics and dynamics computation.
Algorithms:
Supported joints:
Features:
Links:
A modern implementation of Roy Featherstone's book based on Eigen.
Algorithms:
Supported joints:
[1] These are handled through the composition of 1-dof joints (revolute or prismatic) + null mass bodies which makes the algorithms slower than what is possible when dealing with these kind of joints.
Features:
Links:
Algorithms:
Supported joints:
Features:
Links:
Thanks to Antonio El Khoury for his feedbacks and knowledge regarding state-of-the-Art dynamics libraries.
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