#!/usr/bin/env python
import numpy as np
from roboticstoolbox.models.URDF.URDFRobot import URDFRobot
[docs]
class PR2(URDFRobot):
"""
Class that imports a PR2 URDF model
``PR2()`` is a class which imports a Willow Garage PR2 robot definition
from a URDF file. The model describes its kinematic and graphical
characteristics.
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.URDF.PR2()
>>> print(robot)
.. codeauthor:: Jesse Haviland
.. sectionauthor:: Peter Corke
"""
def __init__(self):
super().__init__("pr2", manufacturer="Willow Garage")
self.qr = np.zeros(self.n)
self.qz = np.zeros(self.n)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
self.qdlim = 2.0 * np.ones(self.n)
if __name__ == "__main__": # pragma nocover
r = PR2()
# i = 0
# for link in r.links:
# if link.isjoint:
# print(i, link.name)
# i += 1
# path, n, t = r.get_path(end=r.grippers[0])
# print(n)
# print(t)
# for l in path[1:]:
# if len(l.collision) > 0:
# print(l.isjoint)
# print(l.name)
# print(l.parent.name)
# print()
# for l in r.grippers[0].links:
# if len(l.collision) > 0:
# print(l.isjoint)
# print(l.name)
# print(l.parent.name)
# print()