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
[1] http://wiki.ros.org/pykdl_utils
[2] https://github.com/gtrospkg/hrlkdl/blob/hydro/pykdl_utils/src/pykdl_utils/kdl_kinematics.py#L293
[3] https://github.com/rethinkkmaroney/baxter_pykdl/blob/master/scripts/baxter_kinematics.py#L68
[4] https://github.com/orocos/orocos_kinematics_dynamics/blob/master/orocos_kdl/src/chaindynparam.cpp#L46
Thanks

Ravi