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Description
Prototype parser in urdfparse,m
Should be option to SerialLink constructor, perhaps SerialLink.URDF(filename)
and/or a standalone class
u = URDF(filename)
u.trchain(i) % for i'th end effector ETS
display method shows something like [linkname]--jointname--[linkname]-- etc, maybe nicely layed out tree for robot with multiple end-effectors.
How to turn multi end-effector robot into a graph, rather than list?
Ultimately how to generalise SerialLink to ETS rather than DH? Perhaps a list of Link or ETS objects, or create a common superclass for both?