Can machines beat humans in the symbolic space?
Some documentation is on the Notion page.
- The Casadi version of the forward dynamics function is about 10000 times faster than the original matlab version!
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Currently only support urdf that satisfy the following condition:
- There are only revolute joints or fixed joints.
- The transformations between joints in the home configuration are orthognal (the rotations are multiple of
$\pi/2$ ). This simplifies the symbolic calculation. - There is no branched links.
- Running this code requires the symbolic toolbox and the robotics toolbox.
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DynamicsSym.SaveFunction()may take tremendous amout of time. Avoid using it if you can. - The animation part is currenly irrelavent.
Run startup.m to set path. Run test_casadi.m to see the comparison between the symbolic dynamics and the ground truth.
The comparison between the calculation of the symbolic function (using substitution) and the matlab toolbox is shown here.
- Mass matrix
2. Transformation matrix
3. Gravitation torque matrix
4. Forward dynamics
