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add mycobot_280_pi
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‎roboticstoolbox/models/URDF/Lite6.py

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@@ -9,7 +9,7 @@ class Lite6(Robot):
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"""
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Class that imports a Panda URDF model
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``Panda()`` is a class which imports a Franka-Emika Panda robot definition
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``Lite6()`` is a class which imports a u-factory lite6 robot definition
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from a URDF file. The model describes its kinematic and graphical
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characteristics.
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@@ -26,8 +26,6 @@ class Lite6(Robot):
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- qs, arm is stretched out in the x-direction
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- qn, arm is at a nominal non-singular configuration
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.. codeauthor:: Jesse Haviland
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.. sectionauthor:: Peter Corke
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"""
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def __init__(self):

‎roboticstoolbox/models/URDF/__init__.py

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@@ -24,6 +24,7 @@
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from roboticstoolbox.models.URDF.Valkyrie import Valkyrie
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from roboticstoolbox.models.URDF.AL5D import AL5D
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from roboticstoolbox.models.URDF.Lite6 import Lite6
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from roboticstoolbox.models.URDF.mycobot280 import mycobot280
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__all__ = [
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"Panda",
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"FetchCamera",
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"Valkyrie",
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"AL5D",
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"Lite6"
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"Lite6",
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"mycobot280",
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]

‎roboticstoolbox/models/URDF/mycobot280.py

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#!/usr/bin/env python
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import numpy as np
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from roboticstoolbox.robot.Robot import Robot
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from spatialmath import SE3
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class mycobot280(Robot):
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"""
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Class that imports a mycobot_280_pi URDF model
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``mycobot280()`` is a class which imports a mycobot_280_pi robot definition
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from a URDF file. The model describes its kinematic and graphical
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characteristics.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.URDF.mycobot280()
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>>> print(robot)
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Defined joint configurations are:
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- qz, zero joint angle configuration, 'L' shaped configuration
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- qr, vertical 'READY' configuration
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- qs, arm is stretched out in the x-direction
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- qn, arm is at a nominal non-singular configuration
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"""
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def __init__(self):
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links, name, urdf_string, urdf_filepath = self.URDF_read(
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"elephant_robotics/mycobot_280_pi/urdf/mycobot_280_pi.urdf"
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)
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super().__init__(
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links,
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name=name,
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manufacturer="elephant_robotics",
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gripper_links=links[7],
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urdf_string=urdf_string,
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urdf_filepath=urdf_filepath,
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)
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self.grippers[0].tool = SE3(0, 0, 0)
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self.qdlim = np.array(
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[np.pi, np.pi, np.pi, np.pi, np.pi, np.pi]
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)
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self.qr = np.array([-0.3, 0, -2.2, 0, 2.0, 0])
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self.qz = np.zeros(6)
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self.addconfiguration("qr", self.qr)
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self.addconfiguration("qz", self.qz)
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if __name__ == "__main__": # pragma nocover
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r = mycobot280()
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r.qz
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T = r.fkine(r.qz)
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r.plot(r.qr, backend="swift")
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‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/G_base.dae

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‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/G_base.stl

2.7 MB

‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/camera_flange.dae

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‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/joint1.png

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‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/joint1.stl

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‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/joint1_pi.dae

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‎rtb-data/rtbdata/xacro/elephant_robotics/mycobot_280_pi/meshes/collision/joint2.dae

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