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AdoHaha / DH2URDF

Denavit-Hartenberg table to URDF( Unified Robot Description Format)
MIT License
52 stars 16 forks source link

URDF2DH ? #4

Open celibertojr opened 7 years ago

celibertojr commented 7 years ago

Can you to do both sides ?

AdoHaha commented 7 years ago

that is? the tool helps create a skeleton urdf

jonnycowboy commented 7 years ago

I think the question was, would it be able to make a program to extract DH parameters from a baseline URDF.

AdoHaha commented 7 years ago

not really, it just creates a URDF frame that you then can convert to a robot model but with frames that are placed according to Denavit-Hartenberg notation. The other way round is actually not always possible, as DH-notation requires to have frames in particular places and with particular orientations