models¶

Models: kinematics and actuation of robots.

Modules

`actuation`	Actuation: how motor angles follow from q, and how motor torques u give τ = B(q) u.
`assembly`	Assemblies: several models mounted on one base (fingers on a palm, two arms on a frame).
`continuum`	Continuum models.
`efficiency`	Transmission efficiency: the motor torque a robot receives, a polynomial of the commanded one, after the friction of the actuator.
`equations`	The equations of motion of a robot from a function, for models that are not written as parts.
`friction`	Static friction of an actuator: the torque it takes, a smooth function of the applied one.
`function`	A model from a function: the rotation and position of each site, written by the user.
`joint_space`	Joint-space models: independent joints with no frames (controllers that act on joints only).
`kinematic`	Kinematic model contract: a space, Params, named sites and frames written in CasADi.
`kinematics`	Kinematics as numbers: positions, rotations, Jacobians and Hessians of any point of a robot.
`rigid`	Rigid models.