Functions | |
| def | create_7dof_arm (revoluteOnly=False) |
Create a 7 DoF robot arm (with spherical joint for shoulder and wrist and revolute
joint for elbow)
Optionnal parameters:
revoluteOnly (default=False): if True, the arm is created with only revolute
joints. (Spherical joints are replaced by 3 revolute joints)
Return:
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model: pinocchio model of the robot
geom_model: pinocchio geometric model of the robot
Definition at line 8 of file generator.py.