Contents
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"]