Configuration¶
Wheelchair Robot (values)¶
Concrete joint groups, home pose, URDF chains, planning subgroups, and
the top-level RobotConfig instance for the Wheelchair robot.
wheelchair
¶
The wheelchair + xArm7 robot's bundled description.
This module collects every concrete value that describes the one robot
this project ships: joint groupings, the home pose, the URDF chains
TRAC-IK and Pinocchio operate on, the VAMP planning subgroups, and the
top-level RobotConfig instance.
The robot is a mobile manipulator: a wheelchair platform (modeled as a
3-DOF planar virtual base) carrying a 7-DOF UFACTORY xArm7 arm, for a
total of 10 planning DOF. The parallel gripper and the four wheels are
frozen to fixed in the planning URDFs, so they contribute no DOF.
The dataclass types themselves live in
:mod:wheelchair_planning.types.robot — this file holds values of
those types.
Dataclasses (RobotConfig, ChainConfig, CameraConfig,
PlannerConfig, IKConfig, …) live in
Types.