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Kinematics

Kinematics

Harsh Deshpande

|
67 installs
| (0) | Free
Kinematics language support
Installation
Launch VS Code Quick Open (Ctrl+P), paste the following command, and press enter.
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Visual Studio Code Extension for Kinematics

The Visual Studio Code Extension for Kinematics provides support for creating and composing kinematics models.

Screenshot from 2022-03-10 09-27-07

Features

  • Formalize URDF and Xacro format
  • Provides IDE features like keywords highlighting, go-to-declarations, auto-complete, symbol suggestions, syntax error highlighting
  • Preview kinematic models
  • Auto-generation of Xacro files

An example kinematic model for KUKA KR16 can be found here

Dependencies

  • ros3djs: Screen interaction, loading meshes, visualizing coordinate frames
  • roslibjs: Datastructures like Pose, Vector3, Quaternion
  • threejs: Apart from internally used by ros3djs, matrix operations
  • antlr4ts : Auto-generation of model lexer and parser from grammar file (.g) which is generated by Xtext
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