#!/usr/bin/env python
import numpy as np
from roboticstoolbox.models.URDF.URDFRobot import URDFRobot
[docs]
class Jaco(URDFRobot):
"""
Class that imports a Kinova Jaco URDF model
``Jaco()`` is a class which imports a Kinova Jaco 2 (j2n6s200) robot definition
from a URDF file. The model describes its kinematic and graphical
characteristics.
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.URDF.Jaco()
>>> print(robot)
Defined joint configurations are:
- qz, zero joint angle configuration
- qr, nominal 'ready' configuration
.. codeauthor:: Peter Corke
.. sectionauthor:: Peter Corke
"""
def __init__(self):
super().__init__(
"j2n6s200",
manufacturer="Kinova",
gripper_link_index=9,
)
self.qr = np.array([0, 45, 60, 0, 0, 0]) * np.pi / 180
self.qz = np.zeros(6)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover
robot = Jaco()
print(robot)