Source code for roboticstoolbox.models.URDF.AL5D

#!/usr/bin/env python

import numpy as np
from roboticstoolbox.robot.Robot import Robot
from math import pi


[docs]class AL5D(Robot): """ Class that imports a AL5D URDF model ``AL5D()`` is a class which imports a Lynxmotion AL5D robot definition from a URDF file. The model describes its kinematic and graphical characteristics. .. runblock:: pycon >>> import roboticstoolbox as rtb >>> robot = rtb.models.URDF.AL5D() >>> print(robot) Defined joint configurations are: - qz, zero joint angle configuration, 'L' shaped configuration - up, robot poiting upwards .. codeauthor:: Tassos Natsakis """ def __init__(self): links, name, urdf_string, urdf_filepath = self.URDF_read( "al5d_description/urdf/al5d_robot.urdf" ) super().__init__( links, name=name, urdf_string=urdf_string, urdf_filepath=urdf_filepath, ) self.manufacturer = "Lynxmotion" # zero angles, upper arm pointing up, lower arm straight ahead self.addconfiguration("qz", np.array([0, 0, 0, 0])) # reference pose robot pointing upwards self.addconfiguration("up", np.array([0.0000, 0.0000, 1.5707, 0.0000]))
if __name__ == "__main__": # pragma nocover robot = AL5D() print(robot)