Primarily contains code for converting between URDF and MATLAB model formats (intended for use with spatial\v2_extended to check reference implementations). We also make use of GRiD's URDFParser as a submodule.
If URDFParser submodule is empty, run: git submodule update --init --recursive
Note: This repo doesn't come with URDF files and those must be added for the code to run.
Running the URDF Matlab Generator: python3 generate_spatial_model.py PATH_TO_URDF [-f]
Here, -f generates a floating base version of the robot described in the URDF file. The resulting MATLAB file (written in a format used by spatial_v2) then contains an additional Fb-type joint.
There are also testing scripts that create a test file in Matlab when given a URDF file, with associated files (FDab.m and HandC.m) that should be in Matlab when running the script.
Running the testing script: python3 matTestGen.py PATH_TO_URDF