README.md

COMPAS II: Robot model

Models from URDF, programmatic models.

Robot model visualization in Rhino / Grasshopper.

Forward kinematics of open chain manipulators.

👉 Slides 📜 Assignment 02

Examples

• Robot Model

  • Visualize URDF in Rhino
  • Visualize URDF with meshes in Rhino
  • Load from local files
  • Load from local files in Rhino
  • Load from Github package
  • Load from Github package in Rhino
  • Load and manipulate in Grasshopper
  • Load from ROS
  • Define programmatically
  • Build your own model

• Configuration

  • Joint types
  • Construction and merge

• Kinematics

  • Forward Kinematics
  • Forward Kinematics in Rhino
  • Inverse Kinematics
  • Inverse Kinematics in Rhino
  • Inverse Kinematics in Grasshopper