This is the repository of the URDF2KinDSL tool. The URDF2KinDSL is a converter from the URDF to the Kinematics-DSL robot model formats.

Requirements

• Python (2.7 or 3, both should work)
• NumPy for Python

If in doubt, use Python 3

Usage

Command line

From the root of the repository, run:

./urdf2kindsl.py --help

Refer to the command-line help for usage and options.

From Python code

Refer to the main function urdf2kindsl.cmdline.main() for an example of how to use the classes in the package to perform the conversion.

Testing

Tests are mainly regression tests for developers of the tool. However, to run the test suite, issue the following command from the root of the repository:

python[3] -m urdf2kindsl.test.testing

Limitations

TODO...

Copyright notice

Copyright © 2018-2020 Marco Frigerio

Released under the BSD 2-clause license. See the LICENSE file for additional information.