Comments (3)
Looks like it's been a while since this was updated. @kphawkins I think the kdl_parser repo would be a great place to integrate pykdl_utils
.
I'll close this issue, but feel free to reopen.
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+1, I think this is very important functionality that has been available for C++ nodes under http://wiki.ros.org/pr2_mechanism_model#Chain but has been easily available in Python (see post from 2010: http://lists.willowgarage.com/pipermail/pr2-users/2010-July/000970.html)
from urdfdom.
Funny enough, @jbohren contributed something similar to this in ros/robot_model#74, and I did a bit of reshuffling to put it in its own ROS package, kdl_parser_py
.
I was just thinking though that it's a bit odd that kdl_parser
and the upcoming kdl_parser_py
aren't dependent of ROS, however, since in their most distilled form they would only depend on urdfdom
. Right now they depend on it indirectly through their dependency on the urdf
ROS package.
from urdfdom.
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