timor.utilities.prebuilt_robots
===============================

.. py:module:: timor.utilities.prebuilt_robots


Attributes
----------

.. autoapisummary::

   timor.utilities.prebuilt_robots.EMPTY_BASE
   timor.utilities.prebuilt_robots.EMPTY_EEF


Functions
---------

.. autoapisummary::

   timor.utilities.prebuilt_robots.get_six_axis_assembly
   timor.utilities.prebuilt_robots.get_six_axis_modrob
   timor.utilities.prebuilt_robots.random_assembly


Module Contents
---------------

.. py:data:: EMPTY_BASE

.. py:data:: EMPTY_EEF

.. py:function:: get_six_axis_assembly()

   Creates an assembly of a six axis robot with ca. 1 m reach


.. py:function:: get_six_axis_modrob()

   Creates a six axis robot with ca. 1 m reach


.. py:function:: random_assembly(n_joints, module_db)

   Creates a random assembly from modules.

   The number of modules will be n_joints * 2 + 1 (base) (possibly one less if eef cannot connect)

   :param n_joints: The number of non-base modules to add
   :param module_db: Where to draw modules from