This is a simple package for parsing Unified Robot Description Format (URDF) files describing the kinematics and dynamics of a robotic manipulator, and automatically extracting screw axes in either a spatial frame or a body frame.
The format of the screw axes descriptions is suitable for use with the ModernRobotics library developed to accompany the book “Modern Robotics: Mechanics, Planning, and Control,” by Kevin M. Lynch and Frank C. Park, Cambridge University Press, 2017. More about the book at lynchandpark.org.
- Numpy
- Required for numerical computations and array handling
- urdf_parser_py
- Required for parsing URDFs. May be installable through system package manager
- ModernRobotics
- Required for verifying forward kinematics calculations with the screws extracted from URDFs