Kinematic tree parsed from a URDF description. More...

Public Member Functions
def	__init__ (self, str urdf_path)
	Parse a URDF and build the kinematic tree. More...

SE3	get_transform_frame_to_base (self, str frame)
	Get the SE3 transform from a link frame to the base frame. More...

SE3	get_transform (self, str source, str dest)
	Get the SE3 transform from a source frame to a destination frame. More...

List[str]	frame_names (self)

Public Attributes
	links
	All links by name.

	joints
	Actuated joints (those with `<limit>` elements) parsed from the URDF.

	joint_names
	Set of actuated joint names.

Detailed Description

Kinematic tree parsed from a URDF description.

Computes zero-configuration SE(3) transforms for all link frames relative to the base (root) link, and parses joint limits.

The documentation for this class was generated from the following file:

Public Member Functions