robot_model_python: kdl_parser_python | urdf_parser_python

Package Summary

Provides utilities for parsing the objects given by the urdf_parser_python package into PyKDL trees.

• Author: Kelsey Hawkins
• License: BSD
• Repository: gt-ros-pkg
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/robot_model_python/kdl_parser_python

Contains a mirror Python implementation of kdl_parser which takes URDF objects from urdf_parser_python and constructs KDL trees.

Usage

   1 base_link = "/torso_lift_link"
   2 end_link = "/r_gripper_tool_frame"
   3 chain, joint_info = chain_from_param(base_link, end_link, "/robot_description")
   4 # chain is a PyKDL Chain
   5 # joint_info is a dictionary of lists of joint values and types
   6 print chain.getNrOfSegments()
   7 print joint_info["lim_mins"]