Source code for roboticstoolbox.models.URDF.UR3

#!/usr/bin/env python

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


[docs]class UR3(Robot): """ Class that imports a UR3 URDF model ``UR3()`` is a class which imports a Universal Robotics UR3 robot definition from a URDF file. The model describes its kinematic and graphical characteristics. .. runblock:: pycon >>> import roboticstoolbox as rtb >>> robot = rtb.models.URDF.UR3() >>> print(robot) Defined joint configurations are: - qz, zero joint angle configuration, 'L' shaped configuration - qr, vertical 'READY' configuration .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ def __init__(self): links, name, urdf_string, urdf_filepath = self.URDF_read( "ur_description/urdf/ur3_joint_limited_robot.urdf.xacro" ) super().__init__( links, name=name.upper(), manufacturer="Universal Robotics", urdf_string=urdf_string, urdf_filepath=urdf_filepath, ) self.qr = np.array([np.pi, 0, 0, 0, np.pi / 2, 0]) self.qz = np.zeros(6) self.addconfiguration("qr", self.qr) self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover robot = UR3() print(robot)