ExamplesΒΆ
Three annotated robots, each in its own page.
Run any example from the repo root after pip install -e .:
python3 examples/simple_arm.py
python3 examples/hobu.py
python3 examples/ptu.py
Each script writes .urdf, .xacro, and a _tree.txt kinematic-tree file
to a sub-directory named after the robot.
Simple Arm
4-DOF serial manipulator. Demonstrates Origin.above(),
Inertial.from_geometry(), joint limits and dynamics.
Hobu
Differential-drive mobile base. Demonstrates Origin.wheel(),
multi-branch trees, and inertia safety margins.
PTU
2-DOF pan-tilt unit. Uses all three geometry primitives in one robot.