#!/usr/bin/env python
import numpy as np
from roboticstoolbox.models.URDF.URDFRobot import URDFRobot
[docs]
class LBR(URDFRobot):
"""
Class that imports a Kuka LBR iiwa URDF model
``LBR()`` is a class which imports a Kuka LBR iiwa 14 R820 robot definition
from a URDF file. The robot has a payload of 14 kg, and a reach of 820 mm.
The model describes its kinematic and graphical characteristics.
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.URDF.LBR()
>>> 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):
super().__init__(
"kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.xacro",
manufacturer="Kuka",
)
# 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([0, -0.3, 0, -1.9, 0, 1.5, np.pi / 4])
self.qz = np.zeros(7)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover
robot = LBR()
print(robot)