Source code for roboticstoolbox.models.URDF.Panda

#!/usr/bin/env python

import numpy as np
from roboticstoolbox.robot.Robot import Robot
from spatialmath import SE3


[docs]class Panda(Robot): """ Class that imports a Panda URDF model ``Panda()`` is a class which imports a Franka-Emika Panda robot definition from a URDF file. The model describes its kinematic and graphical characteristics. .. runblock:: pycon >>> import roboticstoolbox as rtb >>> robot = rtb.models.URDF.Panda() >>> 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( "franka_description/robots/panda_arm_hand.urdf.xacro" ) super().__init__( links, name=name, manufacturer="Franka Emika", gripper_links=links[9], urdf_string=urdf_string, urdf_filepath=urdf_filepath, ) self.grippers[0].tool = SE3(0, 0, 0.1034) 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, -2.2, 0, 2.0, np.pi / 4]) self.qz = np.zeros(7) self.addconfiguration("qr", self.qr) self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover r = Panda() r.qz for link in r.grippers[0].links: print(link)