Functions

function urdfRobotToIKRoot(
	robot: URDFRobot,

	// Remove dangling links that do not lead to a movable joint.
	trimUnused: boolean = false
): Joint

Builds an IK tree from a URDFRobot and returns its root joint, which has all six degrees of freedom set. Joint values on the robot are reflected in the tree.

function setIKFromUrdf( ikRoot: Joint, robot: URDFRobot ): void

Copies the root transform and joint values from the robot onto the IK tree, matching joints by name.

function setUrdfFromIK( robot: URDFRobot, ikRoot: Joint ): void

Copies the root transform and joint values from the IK tree onto the robot, matching joints by name.