How to create a Chain without an URDF file?

[phylliade]

How to create a Chain without an URDF file?

[frueter]

Same here. I tried to look up how to manually create a Chain but the docs page for the Link object is blank.
A simple example would be much appreciated.

[maximkulkin]

Guys, I have updated Homepage with instructions on how to create chains manually.

[vivekpatel99]

@maximkulkin can you please provide me with some information, How can I get those parameters of "chain" ("Creating a chain manually") for the robotic arm?

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[Phylliade]

Hey everyone,

I'm currently working on streamlining the workflow to create new robots.
In the last version, new ready-to-use chains were added, in the form of JSON files that add useful metadata to a URDF file. It just works as below:

my_chain = Chain.from_json_file("baxter_left_arm.json")

Regarding the original issue, i'm going to add a simple tutorial on how to create a chain from scratch, in the next release

[Phylliade]

@marcosvilela, would you have any description of the chain you are currently (actually were ;) ) using?