Gotchas

1. Rotation is represented by a 9d list specifying the rotation matrix in column-major format. This means you must use np.flatten(mat, order='F') and np.reshape(mat, (3,3), order='F').

Kinematics Modeling

URDF

Documentation

• World frame Default fixed world frame is world.

Link

• set_parent_transform sets the transform of a link relative to its parent. Useful to move the base link of a manipulator.