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orocos / orocos_kinematics_dynamics

Orocos Kinematics and Dynamics C++ library
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parsing chain from urdf file #265

Closed DimitriEckert137 closed 4 years ago

DimitriEckert137 commented 4 years ago

Is there a method to parse a kdl chain from a urdf file like the kdl_parser (which does it only for trees)?

If not what is the fasterst way to get to a kdll chain from a urdf file?

I am working with the ur3e robot from universal robots and would like to calculate the joint torques with the chainidsolver_recursive_newton_euler.

DimitriEckert137 commented 4 years ago

This seems to be the easiest way to do it without having to write a function like kdl_parser for chains:

https://answers.ros.org/question/253607/from-urdf-to-forward-kinematics-and-modifying-the-urdf/