8000 Added xarm7 support, untested yet · olamarre/robotics-toolbox-python@b8ac9d4 · GitHub
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Added xarm7 support, untested yet
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‎roboticstoolbox/models/URDF/xarm7.py

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#!/usr/bin/env python3
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import os
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import rospkg
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import numpy as np
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from roboticstoolbox.robot.ERobot import ERobot
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class xarm7(ERobot):
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"""
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Class that imports a UR10 URDF model
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``UR3()`` is a class which imports a Universal Robotics UR310 robot
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definition from a URDF file. The model describes its kinematic and
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graphical characteristics.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.URDF.UR10()
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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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.. 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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"xarm_description/urdf/xarm7.urdf.xacro"
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)
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super().__init__(
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links,
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name=name.upper(),
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manufacturer="UFACTORY",
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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.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0]))
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# self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0]))
< 10000 /code>
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if __name__ == "__main__":
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print(f"hello")
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# print(__file__)
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robot = xarm7()
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print(robot)

‎rtb-data/rtbdata/xacro/xarm_description/meshes/collision/end_tool.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link1.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link2.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link3.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link4.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link5.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link6.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link7.STL

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‎rtb-data/rtbdata/xacro/xarm_description/meshes/xarm7/visual/link_base.STL

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