#!/usr/bin/env python
import numpy as np
from roboticstoolbox.models.URDF.URDFRobot import URDFRobot
from math import pi
[docs]
class AL5D(URDFRobot):
"""
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):
super().__init__(
"lynxmotion_al5d_description/urdf/al5d_robot.urdf",
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)