#!/usr/bin/env python
import numpy as np
from roboticstoolbox.robot.Robot import Robot
[docs]class wx200(Robot):
"""
Class that imports a WX200 URDF model
``wx200()`` is a class which imports an Interbotix wx200 robot definition
from a URDF file. The model describes its kinematic and graphical
characteristics.
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.URDF.wx200()
>>> print(robot)
Defined joint configurations are:
- qz, zero joint angle configuration, 'L' shaped configuration
- qr, vertical 'READY' configuration
:reference:
- https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications/wx200.html
.. codeauthor:: Jesse Haviland
.. sectionauthor:: Peter Corke
"""
def __init__(self):
links, name, urdf_string, urdf_filepath = self.URDF_read(
"interbotix_descriptions/urdf/wx200.urdf.xacro"
)
super().__init__(
links,
name=name,
manufacturer="Interbotix",
urdf_string=urdf_string,
urdf_filepath=urdf_filepath,
)
self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])
self.qz = np.zeros(8)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover
robot = wx200()
print(robot)