recordRobot
Robot with links and joints from URDF
Extends from Modelica.Icons.Record (Icon for records).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| String | name | "defaultRobotName" | |
| Integer | numLinks | 1 | |
| Integer | numJoints | 1 | |
| Integer | numAxes | 1 | Moveable Joints |
| Integer[numJoints,2] | connectionMatrix | zeros(numJoints, 2) | Each row contains parent and child link index of a joint |
| Integer[numAxes,2] | moveableJoints | zeros(numAxes, 2) | First column joint index of a moveable joint, second column DOF of joint |
| Link[:] | link | fill(Link(), numLinks) | |
| Joint[:] | joint | fill(Joint(), numJoints) |