movement_primitives.kinematics.Kinematics

class movement_primitives.kinematics.Kinematics(urdf, mesh_path=None)

Bases: object

Robot kinematics.

Parameters:

urdfstr

URDF description of a robot

mesh_pathstr, optional (default: None)

Path in which we search for meshes that are defined in the URDF. Meshes will be ignored if it is set to None.

Methods

create_chain(joint_names, base_frame, ee_frame)

Create kinematic chain.

create_chain(joint_names, base_frame, ee_frame, verbose=0)

Create kinematic chain.

Parameters:

joint_nameslist

Names of joints that should be used

base_framestr

Name of the base link

ee_framestr

Name of the end-effector link

verboseint, optional (default: 0)

Verbosity level

Returns:

chainChain

Kinematic chain