Chain

URDF parsing and importing

URDF parsing is done via the class method from_urdf_file.

There are multiple things to consider to parse a URDF file :

URDF and IKPy conventions

An URDF robot is made of links and joints : each joint represents a motor, and is bound to two links : his parent link and his child link.

Be careful, the links of IKPy (and of the matlab toolbox) are more related to the URDF joints!

Giving the base elements

Given the fact that a chain is linear, and If your robot is not a linear chain, for example an humanoid, then you must specify the elements that constitute your chain inthe URDF file

Using a last_link_vector

Specifying a chain mask