Get Arm Gravity Compensation Joint Efforts from URDF, Joint Positions, and Grav Vector?
Given:
- a URDF
- the current joint positions
- a gravity vector
I want to calculate the joint efforts needed to compensate for gravity ("achieve weightlessness").
Is there an existing (ROS) package that will do this (preferably Python b/c existing code)?
I've been searching but haven't been able to find anything yet. Best lead (I think) is https://github.com/orocos/orocos_kine... .
It's not a ROS package, but would RBDL work for you? According to it's documentation:
KDL should also be able to do this I believe, but I haven't used it myself for this particular purpose.
@gvdhoorn Thanks for recommendations. After your suggestion, I looked into RBDL a little bit, but ended up going with KDL (since it's URDF support seems more mature/tested). PyKDL ended up having what I needed.