Installation

• Clone ur_kin_py: https://github.com/gt-ros-pkg/ur_kin_py

• Clone boost_numpy: https://github.com/gt-ros-pkg/Boost.NumPy

• catkin_make

from ur_kin_py.kin import Kinematics
kin = Kinematics('ur5') # or ur10
print kin.forward([0.1]*6)