Workspace exploration from urdf?
Hi.
Is there an easy way or a package to compute forward kinematics from an URDF file? The idea behind is to "explore" the workspace of a robot, plotting reachable points and dexterous area.
As far as I understand the document, TF is for tracking frames. KDL could do the tricks, but did not see if it is possible to use the URDF description of the robot to feed it.
Thanks in advance.