Hello,
I am using Lua
for Dynamic Simulation of Baxter Robot. For this purpose, I
need to calculate Mass Inertia Matrix from URDF file. Earlier,
I was using pykdl [1] in ros (python), which has a function
for calculating inertia matrix [2,3]. pykdl uses KDL structure
internally, which can be initialized from URDF file.
The python
library pykdl, internally uses Orocos Kinematics Dynamics
library [4], which is written in CPP. At this moment, I can
think of two possible solutions to calculate Mass Inertia
Matrix from URDF file
1. Write the
code completely in Lua
2. Call the CPP
library from Lua
In case of point
1, I need to first read the URDF (xml) file and construct the
KDL structure. then using this structure calculate the Mass
Inertia Matrix as done in [4]. This is looking like
reinventing the wheel again. In case of point 2, I doubt on
the efficiency.
Any idea please.
References
Thanks

Ravi