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kdl_parser and kdl_parser_py provide tools to construct a KDL tree from an XML robot representation in URDF.
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KDL Parser

This contains packages for converting from URDF to a representation in KDL. See the ROS wiki for API documentation and tutorials.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195

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