Source code for roboticstoolbox.models.URDF.UR5

#!/usr/bin/env python

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


[docs]class UR5(Robot): """ Class that imports a UR5 URDF model ``UR3()`` is a class which imports a Universal Robotics UR5 robot definition from a URDF file. The model describes its kinematic and graphical characteristics. .. runblock:: pycon >>> import roboticstoolbox as rtb >>> robot = rtb.models.URDF.UR5() >>> 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/ur5_joint_limited_robot.urdf.xacro" ) # for link in links: # print(link) super().__init__( links, name=name.upper(), manufacturer="Universal Robotics", gripper_links=links[7], 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) # sol=robot.ikine_LM(SE3(0.5, -0.2, 0.2)@SE3.OA([1,0,0],[0,0,-1])) self.addconfiguration_attr( "qn", np.array( [ -7.052413e-01, 3.604328e-01, -1.494176e00, 1.133744e00, -7.052413e-01, 0, ] ), ) self.addconfiguration_attr("q1", [0, -pi / 2, pi / 2, 0, pi / 2, 0])
if __name__ == "__main__": # pragma nocover robot = UR5() print(robot) print(robot.ets())