This project is a Python implementation of rigid body dynamics algorithms, based on Roy Featherstone's book, "Modern Robotics: Mechanics, Planning, and Control", and the MEE5114 course. This project was created primarily for self-education but can also help those who going to enter the field of computational rigid body dynamics and prefer the Python ecosystem over MATLAB/Julia or C++.
The examples in this project can help to clarify the differences in notation between Featherstone's book and the "Modern Robotics" book, which can be quite confusing. Please check out the example models and test cases for more details.Please check out the example models and test cases for more details.
git clone <this repo>
cd featherstone_py
pip install -r requirements.txt
pip install -e .pip install -r test/requirements.txt
python -m pytest testNOTE: Only tested on Ubuntu
pip install -r examples/requirements.txtInstall drake from apt using official instructions
This project closely follows the API and notation used in spatial v2, and as a result, it is considered a derivative work of this library and is licensed with GPL v3.