def tree_from_param(param="/robot_description"): robot_model = urdf.create_model_from_param(param) return tree_from_urdf_model(robot_model)
def chain_from_param(base_link, end_link, param="/robot_description"): robot_model = urdf.create_model_from_param(param) return chain_from_urdf_model(robot_model, base_link, end_link)