Tools based on the iDynTree library that depend on YARP.
Module to visualize a robot using the iDynTree Visualizer library, loading the robot description from URDF file, and reading its state via YARP ports and devices. Check detailed docs in idyntree-yarp-tools README.
Drop-in replacement of the ROS robot_state_publisher that uses iDynTree for loading the URDF
and computing the forward kinematics, and YARP to subscribe to the joint topic and publish the computed transforms.
Command-line tool to convert chains extracted from a URDF model to Denavit-Hartenberg (DH) parameters.
The output DH parameters are saved in a .ini file that can be directly loaded in the iKin library, part of the icub-main project.
Qt Charts-based tool that can receive plot commands from YARP RPC commands. The protocol of the RPC command is specified in the src\modules\idyntree-plotter\thrifts\chartsService.thrift YARP Thrift file.
Qt-based tool to plot soles boundaries projected on a 2D contact plain, and relevant points.
This repository is maintained by:
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@S-Dafarra |
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@traversaro |