Source code for roboticstoolbox.models.URDF.LBR

#!/usr/bin/env python

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


[docs]class LBR(Robot): """ Class that imports a LBR URDF model ``LBR()`` is a class which imports a Franka-Emika LBR robot definition from a URDF file. 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): links, name, urdf_string, urdf_filepath = self.URDF_read( "kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.xacro" ) super().__init__( links, name=name, manufacturer="Kuka", 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([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)