Kinematic
DHFactor - transform sequence to DH description
jsingu - find dependent joints
fellipse - plot force ellipsoid
fkine - forward kinematics
ikine - inverse kinematics (numeric)
ikine_sym - inverse kinematics (symbolic)
ikine6s - inverse kinematics for 6-axis arm with sph.wrist
jacob0 - Jacobian in base coordinate frame
jacobn - Jacobian in end-effector coordinate frame
maniplty - compute manipulability
trchain - express as chain of SE(3) transforms
vellipse - plot velocity ellipsoid