#!/usr/bin/env python
import numpy as np
from roboticstoolbox.robot.ET import ET
from roboticstoolbox.robot.ETS import ETS
from roboticstoolbox.robot.Robot import Robot
from roboticstoolbox.robot.Link import Link
[docs]class GenericSeven(Robot):
"""
Create model of a generic seven degree-of-freedom robot
robot = GenericSeven() creates a robot object. This robot is represented
using the elementary transform sequence (ETS).
"""
def __init__(self):
deg = np.pi / 180
mm = 1e-3
tool_offset = (103) * mm
link_length = 0.5
l0 = Link(ET.tz(link_length) * ET.Rz(), name="link0", parent=None)
l1 = Link(ETS(ET.Ry()), name="link1", parent=l0)
l2 = Link(ET.tz(link_length) * ET.Rz(), name="link2", parent=l1)
l3 = Link(ETS(ET.Ry()), name="link3", parent=l2)
l4 = Link(ET.tz(link_length) * ET.Rz(), name="link4", parent=l3)
l5 = Link(ETS(ET.Ry()), name="link5", parent=l4)
l6 = Link(ET.tx(link_length) * ET.Rz(), name="link6", parent=l5)
ee = Link(ETS(ET.tz(-link_length)), name="ee", parent=l6)
elinks = [l0, l1, l2, l3, l4, l5, l6, ee]
# elinks = [l0, l1, l2, l3, l4, l5, ee]
super(GenericSeven, self).__init__(
elinks, name="Generic Seven", manufacturer="Jesse's Imagination"
)
self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
self.qz = np.zeros(7)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)