Robot
TORA.Robot
— TypeA Robot
represents a mechanism, its state, and other relevant objects.
Relevant fields in Robot
- The arrays
q_lo
,q_hi
,v_lo
,v_hi
,τ_lo
,τ_hi
store the lower and upper bounds of the joint positions, velocities, and torques, respectively. - The number of generalized coordinates, generalized velocities, and actuated joints are stored in
n_q
,n_v
,n_τ
, respectively. - The end-effector frame is stored in
frame_ee
.
TORA.Robot
— MethodRobot(urdfpath, mechanism, frame_ee, mvis)
Create a new Robot
.
Index
TORA.Robot
TORA.Robot
TORA.create_robot_franka
TORA.create_robot_kinova_gen2
TORA.create_robot_kinova_gen3
TORA.create_robot_kuka
TORA.create_robot_ur
Methods
TORA.create_robot_franka
— Methodcreate_robot_franka(model, vis)
Create a new Franka Emika robot.
TORA.create_robot_kinova_gen2
— Methodcreate_robot_kinova_gen2(model, vis)
Create a new Kinova Gen2 robot.
TORA.create_robot_kinova_gen3
— Methodcreate_robot_kinova_gen3(model, vis)
Create a new Kinova Gen3 lite robot.
TORA.create_robot_kuka
— Methodcreate_robot_kuka(model, vis)
Create a new KUKA LBR iiwa 7/14 robot.
TORA.create_robot_ur
— Methodcreate_robot_ur(ur_type, vis)
Create a new Universal Robots robot.