juliarobotics / tora.jl

Trajectory Optimization for Robot Arms

TORA.jl

Trajectory Optimization for Robot Arms

Installation

The package can be installed with the Julia package manager.

From the Julia REPL, type ] to enter the Pkg REPL mode and run:

pkg> add https://github.com/JuliaRobotics/TORA.jl

Or, equivalently, via the Pkg API:

julia> import Pkg; Pkg.add("https://github.com/JuliaRobotics/TORA.jl")

Documentation

• Stable — documentation of the most recently tagged version.
• Devel — documentation of the in-development version.

Videos

Using Julia to Optimise Trajectories for Robots with Legs | Henrique Ferrolho | JuliaCon 2023

Contributions and Questions

Contributions are very welcome, as are feature requests and suggestions.

Please open an issue if you encounter any problems.

tora.jl's Issues

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Feature request: add a method to check whether the URDF has the required dynamics quantities

TORA.jl takes into account the full-order system dynamics of a robot, i.e., it considers the mass/inertia parameters of every link throughout the kinematic chain of a robot. Currently, if a URDF does not contain the required dynamics quantities, TORA fails with an unclear error message.

So, the requested feature is: add a method to check whether the URDF has all the required dynamics quantities and if not, log a message to the user that these quantities need to be provided.

This could potentially also be added to the tutorial or the Adding a new robot doc?