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MordweenMordween
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add xacro2urdf conversion
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‎roboticstoolbox/models/DH/Lite6.py

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#!/usr/bin/env python
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import numpy as np
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from spatialmath.base import trotz, transl
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from roboticstoolbox import DHRobot, RevoluteDH
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class Lite6(DHRobot):
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"""
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A class representing the Lite6 robot arm.
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``Lite6()`` is a class which models a ufactory lite 6 robot and
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describes its kinematic characteristics using modified DH
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conventions.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.Lite6()
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>>> print(robot)
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.. note::
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- SI units of metres are used.
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- The model includes a tool offset.
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"""
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def __init__(self):
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# deg = np.pi/180
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mm = 1e-3
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tool_offset = (103) * mm
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# This Lite6 model is defined using modified
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# Denavit-Hartenberg parameters
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L = [
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RevoluteDH(
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a=0,
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d=243.3*mm,
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alpha=-np.pi/2,
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qlim=np.array([-2.0*np.pi, 2*np.pi]),
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m=1.169,
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I=[
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1.45164E-03,
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1.24E-05,
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-6.7E-06,
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8.873E-04,
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1.255E-04,
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1.31993E-03,
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],
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G=1,
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),
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RevoluteDH( #theta offset : -90°
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a=200*mm,
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d=0.0,
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alpha= np.pi,
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qlim=np.array([-2.61799, 2.61799]),
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m=1.192,
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I=[
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1.5854E-03,
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-6.766E-06,
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-1.15136E-03,
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5.6097E-03,
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1.14E-06,
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4.85E-03,
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],
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G=1,
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),
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RevoluteDH( #theta offset : -90°
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a=87*mm,
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d=0,
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alpha=np.pi/2,
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qlim=np.array([-0.061087, 5.235988]),
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m=0.930,
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I=[
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8.861E-04,
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-3.9287E-04,
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7.066E-05,
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1.5785E-03,
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-2.445E-05,
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1.84677E-03,
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],
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G=1,
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),
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RevoluteDH(
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a=0,
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d=227.6*mm,
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alpha=np.pi/2,
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qlim=np.array([-2*np.pi, 2*np.pi]),
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m=1.31,
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I=[
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3.705E-03,
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-2.0E-06,
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7.17E-06,
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3.0455E-03,
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-9.3188E-04,
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1.5413E-03,
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],
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G=1,
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),
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RevoluteDH(
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a=0,
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d=0,
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alpha=-np.pi / 2,
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qlim=np.array([-2.1642, 2.1642]),
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m=0.784,
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I=[
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5.668E-04,
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6E-07,
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-5.3E-06,
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5.077E-04,
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-4.8E-07,
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5.3E-04,
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],
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G=1,
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),
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RevoluteDH(
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a=0.0,
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d=61.5*mm,
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alpha=0,
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qlim=np.array([-2*np.pi, 2*np.pi]),
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m=0.180,
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I=[
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7.726E-05,
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1E-06,
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4E-07,
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8.5665E-05,
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-6E-07,
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1.4814E-04,
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],
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G=1,
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),
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]
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tool = transl(0, 0, tool_offset) @ trotz(-np.pi / 4)
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super().__init__(
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L,
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name="Lite6",
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manufacturer="ufactory",
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meshdir="meshes/ufactory/Lite6",
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tool=tool,
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)
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self.qr = np.array([0, 0, 0, 2.5, 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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lite6 = Lite6()
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print(lite6)

‎roboticstoolbox/models/DH/Lite6Modified.py

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#!/usr/bin/env python
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import numpy as np
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from spatialmath.base import trotz, transl
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from roboticstoolbox import DHRobot, RevoluteMDH
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7+
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class Lite6(DHRobot):
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"""
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A class representing the Lite6 robot arm.
11+
12+
``Lite6()`` is a class which models a ufactory lite 6 robot and
13+
describes its kinematic characteristics using modified DH
14+
conventions.
15+
16+
.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.Lite6()
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>>> print(robot)
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.. note::
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- SI units of metres are used.
24+
- The model includes a tool offset.
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"""
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def __init__(self):
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# deg = np.pi/180
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mm = 1e-3
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tool_offset = (103) * mm
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# This Lite6 model is defined using modified
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# Denavit-Hartenberg parameters
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L = [
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RevoluteMDH(
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a=0,
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d=243.3*mm,
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alpha=0,
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qlim=np.array([-2.0*np.pi, 2*np.pi]),
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m=1.169,
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I=[
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1.45164E-03,
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1.24E-05,
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-6.7E-06,
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8.873E-04,
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1.255E-04,
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1.31993E-03,
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],
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G=1,
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),
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RevoluteMDH( #theta offset : -90°
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a=0.0,
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d=0.0,
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alpha=- np.pi / 2,
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qlim=np.array([-2.61799, 2.61799]),
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m=1.192,
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I=[
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1.5854E-03,
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-6.766E-06,
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-1.15136E-03,
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5.6097E-03,
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1.14E-06,
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4.85E-03,
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],
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G=1,
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),
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RevoluteMDH( #theta offset : -90°
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a=200*mm,
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d=0,
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alpha=np.pi,
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qlim=np.array([-0.061087, 5.235988]),
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m=0.930,
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I=[
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8.861E-04,
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-3.9287E-04,
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7.066E-05,
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1.5785E-03,
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-2.445E-05,
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1.84677E-03,
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],
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G=1,
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),
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RevoluteMDH(
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a=87*mm,
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d=227.6*mm,
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alpha=np.pi/2,
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qlim=np.array([-2*np.pi, 2*np.pi]),
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m=1.31,
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I=[
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3.705E-03,
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-2.0E-06,
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7.17E-06,
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3.0455E-03,
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-9.3188E-04,
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1.5413E-03,
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],
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G=1,
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),
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RevoluteMDH(
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a=0,
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d=0,
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alpha=np.pi / 2,
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qlim=np.array([-2.1642, 2.1642]),
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m=0.784,
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I=[
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5.668E-04,
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6E-07,
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-5.3E-06,
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5.077E-04,
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-4.8E-07,
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5.3E-04,
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],
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G=1,
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),
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RevoluteMDH(
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a=0.0,
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d=61.5*mm,
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alpha=-np.pi / 2,
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qlim=np.array([-2*np.pi, 2*np.pi]),
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m=0.180,
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I=[
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7.726E-05,
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1E-06,
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4E-07,
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8.5665E-05,
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-6E-07,
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1.4814E-04,
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],
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G=1,
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),
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]
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tool = transl(0, 0, tool_offset) @ trotz(-np.pi / 4)
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super().__init__(
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L,
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name="Lite6",
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manufacturer="ufactory",
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meshdir="meshes/ufactory/Lite6",
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tool=tool,
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)
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self.qr = np.array([0, 0, 0, 2.5, 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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lite6 = Lite6()
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print(lite6)

‎rtb-data/rtbdata/xacro/ufactory_description/lite6/urdf/ReadME.md

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### Generate URDF file :
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```
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python xacro.py -o ./lite6.urdf lite6.xacro
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```
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github : https://github.com/doctorsrn/xacro2urdf

‎rtb-data/rtbdata/xacro/ufactory_description/lite6/urdf/lite6.xacro

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<?xml version="1.0" ?>
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<robot name="lite6" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find urdf)/lite6.urdf.xacro"/>
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<xacro:lite6 prefix=""
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joint1_lower_limit="${-2.0*3.14159}" joint1_upper_limit="${2.0*3.14159}"
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joint2_lower_limit="${-2.61799}" joint2_upper_limit="${2.61799}"
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joint3_lower_limit="${-0.061087}" joint3_upper_limit="${5.235988}"
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joint4_lower_limit="${-2.0*3.14159}" joint4_upper_limit="${2.0*3.14159}"
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joint5_lower_limit="${-2.1642}" joint5_upper_limit="${2.1642}"
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joint6_lower_limit="${-2.0*3.14159}" joint6_upper_limit="${2.0*3.14159}"/>
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</robot>

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