#!/usr/bin/env python
import numpy as np
from roboticstoolbox.robot.Robot import Robot
[docs]class KinovaGen3(Robot):
"""
Class that imports a KinovaGen3 URDF model
``KinovaGen3()`` is a class which imports a KinovaGen3 robot definition
from a URDF file. The model describes its kinematic and graphical
characteristics.
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.URDF.KinovaGen3()
>>> print(robot)
Defined joint configurations are:
- qz, zero joint angle configuration, 'L' shaped configuration
- qr, vertical 'READY' configuration
- qs, arm is stretched out in the x-direction
- qn, arm is at a nominal non-singular configuration
.. codeauthor:: Jesse Haviland
.. sectionauthor:: Peter Corke
"""
def __init__(self):
links, name, urdf_string, urdf_filepath = self.URDF_read(
"kortex_description/robots/gen3.xacro"
)
super().__init__(
links,
name=name,
manufacturer="Kinova",
urdf_string=urdf_string,
urdf_filepath=urdf_filepath,
# gripper_links=elinks[9]
)
# self.qdlim = np.array([
# 2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0])
self.qr = np.array([np.pi, -0.3, 0, -1.6, 0, -1.0, np.pi / 2])
self.qz = np.zeros(7)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover
robot = KinovaGen3()
print(robot)