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Jesse Haviland
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added spot model
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‎roboticstoolbox/models/URDF/Spot.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 Spot(Robot):
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"""
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Class that imports a Spot URDF model
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``Spot()`` is a class which imports a Spot robot definition
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from a URDF file. The model descroboticstoolbox/models/URDF/Spot.pyribes 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.Spot()
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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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.. codeauthor:: Jesse Haviland
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.. sectionauthor:: Peter Corke
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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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"spot_description/urdf/spot_with_arm.urdf.xacro"
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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="Boston Dynamics",
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# gripper_links=links[12],
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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, 0.1034)
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# self.qdlim = np.array(
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# [4.0, 4.0, 2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
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# )
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# self.qr = np.array([0, 0, 0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
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self.qz = np.zeros(19)
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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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from swift import Swift
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env = Swift()
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env.launch()
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robot = Spot()
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env.add(robot)
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while True:
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print("Hello")
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break
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# print(robot)
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# q = robot.qz
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# q[12:18] = np.array([
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# 0.00043129920959472656,
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# -3.1129815578460693,
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# # 0.0,
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# 3.1337125301361084,
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# 1.5675101280212402,
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# -0.0025529861450195312,
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# -1.5732693672180176,
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# ])
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# robot.plot(q)
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# for link in robot.links:
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# print(link.name)
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# print(link.isjoint)
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# print(len(link.collision))
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# print()
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# for link in robot.grippers[0].links:
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# print(link.name)
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# print(link.isjoint)
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# print(len(link.collision))

‎roboticstoolbox/models/URDF/__init__.py

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from roboticstoolbox.models.URDF.FetchCamera import FetchCamera
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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.Spot import Spot
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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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"Spot"
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]

‎rtb-data/rtbdata/xacro/spot_description/LICENSE

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BSD 3-Clause License
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Copyright (c) 2021, Clearpath Robotics Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_el0.stl

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‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_el1.stl

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‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_fngr.stl

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‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_hr0.stl

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‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_sh0.stl

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‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_sh1.stl

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‎rtb-data/rtbdata/xacro/spot_description/meshes/arm/collision/arm_link_wr0.stl

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