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jhavljhavl
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Merge pull request petercorke#256 from jskinn/future
Add Puma560
2 parents 84f07b7 + 0b40253 commit 8479d33

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+1567
-55
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‎roboticstoolbox/examples/puma_swift.py

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#!/usr/bin/env python
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"""
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@author John Skinner
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"""
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import swift
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import roboticstoolbox as rp
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import spatialmath as sm
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import numpy as np
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env = swift.Swift()
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env.launch(realtime=True)
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# Create a puma in the default zero pose
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puma = rp.models.Puma560()
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puma.q = puma.qz
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env.add(puma, show_robot=True, show_collision=False)
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dt = 0.05
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interp_time = 5
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wait_time = 2
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# Pass through the reference poses one by one.
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# This ignores the robot collisions, and may pass through itself
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poses = [puma.qz, puma.rd, puma.ru, puma.lu, puma.ld]
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for previous, target in zip(poses[:-1], poses[1:]):
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for alpha in np.linspace(0.0, 1.0, int(interp_time / dt)):
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puma.q = previous + alpha * (target - previous)
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env.step(dt)
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for _ in range(int(wait_time / dt)):
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puma.q = target
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env.step(dt)
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# Uncomment to stop the browser tab from closing
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env.hold()

‎roboticstoolbox/models/URDF/Puma560.py

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self.manufacturer = "Unimation"
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# self.ee_link = self.ets[9]
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# zero angles, L shaped pose
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# zero angles, upper arm horizontal, lower up straight up
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self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
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# reference pose, arm to the right, elbow up
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self.addconfiguration("ru", np.array([-0.0000, 0.7854, 3.1416, -0.0000, 0.7854, 0.0000]))
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# reference pose, arm to the right, elbow up
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self.addconfiguration("rd", np.array([-0.0000, -0.8335, 0.0940, -3.1416, 0.8312, 3.1416]))
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# reference pose, arm to the left, elbow up
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self.addconfiguration("lu", np.array([2.6486, -3.9270, 0.0940, 2.5326, 0.9743, 0.3734]))
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# reference pose, arm to the left, elbow down
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self.addconfiguration("ld", np.array([2.6486, -2.3081, 3.1416, 0.6743, 0.8604, 2.6611]))
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# ready pose, arm up
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self.addconfiguration("qr", np.array([0, pi / 2, -pi / 2, 0, 0, 0]))
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‎rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision1.dae

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‎rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision2.dae

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‎rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision3.dae

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‎rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision4.dae

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