Expand description
Robot model representation.
Modules§
- dh
- DH-based serial chain conversion.
- fixture
- JSON fixture loader for Physical AI integration tests.
- joint
- Joint types and limits.
- link
- Link and inertial specifications.
- origin
- Joint origin transforms from URDF-style parameters.
- robot
- Robot model graph.
- tree_
model RobotModeladapter for tree kinematics.- urdf
- URDF parser (serial and branched tree models).