As the original PyKDL is usually used in python2 with ros, so i wrapper KDL with python3.5 for personal use.

Requirement

• python 3.5
• EIGEN3
• KDL in ros kinect or original KDL

install

before install the PyKDL, ensure that your Eigen3 header file is in /usr/local/include

sudo sh install.sh

test

use demo

python test.py

tips

• Joint.None is changed to Joint.NoJoint.
• fk and ik can be used as a function as the module without any solver established in python level.

other APIs are almost the same with the original one.