Source code for roboticstoolbox.models.URDF.wx200

#!/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)