Metadata-Version: 2.1
Name: cmeel-casadi-kin-dyn
Version: 1.6.4
Summary: Cmeel distribution of a package for generation of symbolic (casadi::SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.
Requires-Python: >= 3.9
License-Expression: MIT License
Author-email: Lev Kozlov <kozlov.l.a10@gmail.com>
Home-page: https://github.com/lvjonok/casadi_kin_dyn
Project-URL: Repository, https://github.com/lvjonok/casadi_kin_dyn.git
Project-URL: Changelog, https://github.com/lvjonok/casadi_kin_dyn/CHANGELOG.md
Requires-Dist: cmeel
Requires-Dist: cmeel_casadi==0.1.1
Requires-Dist: pin==2.6.21
Requires-Dist: eigenpy==3.1.4
Requires-Dist: cmeel-tinyxml==2.6.2.2
Requires-Dist: cmeel-eigen==3.4.0.2
Requires-Dist: cmeel-urdfdom_headers==1.1.0
Requires-Dist: cmeel-urdfdom==3.1.1
Description-Content-Type: text/markdown

# casadi_kin_dyn

Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.

## What has changed?

In comparison to the original [casadi_kin_dyn](https://github.com/ADVRHumanoids/casadi_kin_dyn) repository, such changes were made:

- Migration to `cmeel`-based packaging
- Use `pre-commit` to prettify repository
- Added `torque`, `potentialEnergy`, `kineticEnergy` regressors
- Added `jacobian time derivative` mapping
- Added `jacobian of CoM` mapping
