ikpy.URDF_utils
module¶
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ikpy.URDF_utils.
find_next_joint
(root, current_link, next_joints)[source]¶ Find the next joint in the URDF tree
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ikpy.URDF_utils.
find_next_link
(root, current_joint, next_links)[source]¶ Find the next link in the URDF tree
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ikpy.URDF_utils.
get_urdf_parameters
(urdf_file, base_elements=['base_link'], last_link_vector=None, base_elements_type='joint')[source]¶ Returns translated parameters from the given URDF file
Parameters: - urdf_file (string) – The path of the URDF file
- base_elements (list of strings) – List of the links beginning the chain
- last_link_vector (numpy.array) – Optional : The translation vector of the tip.
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ikpy.URDF_utils.
get_motor_parameters
(json_file)[source]¶ Returns a dictionnary with joints as keys, and a description (dict) of each joint as value
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ikpy.URDF_utils.
convert_angle_to_pypot
(angle, joint, **kwargs)[source]¶ Converts an angle to a PyPot-compatible format