The Toolbox supports three types of model. Each is represented by a distinct class which inherits from the abstract Robot superclass.

• Denavit-Hartenberg (DH) models. These are defined using standard or modified DH parameters, with optional 3D meshes for visualisation and optional dynamic parameters.
• ETS models. There are defined using a sequence of elementary transformations (rotation and translations), and is a quick and intuitive way to describe a robot, see this article.
• URDF models. These models are defined by a Unified Robot Description Format file, an XML format file. Models exist for the classic Puma560 robot as well as the Franka-Emika Panda, the Universal robotics range and all the Interbotix hobby-class robots.

In each folder you will find a README describing how to create your own model.

If you think your model might be interesting to others consider submitting a pull request.