Robot

TORA.RobotType

A 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.
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TORA.RobotMethod
Robot(urdfpath, mechanism, frame_ee, mvis)

Create a new Robot.

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Index

Methods