8000 Add onmidirectional mm · olamarre/robotics-toolbox-python@f07643f · GitHub
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Add onmidirectional mm
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5 files changed

+486
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‎roboticstoolbox/models/URDF/FrankieOmni.py

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#!/usr/bin/env python
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import numpy as np
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from roboticstoolbox.robot.ERobot import ERobot
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from spatialmath import SE3
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class FrankieOmni(ERobot):
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"""
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Class that imports an Omnidirectional Frankie URDF model
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``FrankieOmni()`` is a class which imports a FrankieOmni 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.FrankieOmni()
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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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"franka_description/robots/frankieOmni_arm_hand.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="Franka Emika",
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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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[
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4.0,
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4.0,
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4.0,
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2.1750,
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2.1750,
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2.1750,
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2.1750,
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2.6100,
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2.6100,
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2.6100,
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3.0,
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3.0,
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]
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)
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self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]))
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self.addconfiguration(
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"qr", np.array([0, 0, 0, 0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
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)
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if __name__ == "__main__": # pragma nocover
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robot = FrankieOmni()
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print(robot)
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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.Panda import Panda
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from roboticstoolbox.models.URDF.Frankie import Frankie
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from roboticstoolbox.models.URDF.FrankieOmni import FrankieOmni
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from roboticstoolbox.models.URDF.UR3 import UR3
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from roboticstoolbox.models.URDF.UR5 import UR5
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from roboticstoolbox.models.URDF.UR10 import UR10
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from roboticstoolbox.models.URDF.YuMi import YuMi
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__all__ = [
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'Panda',
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'Frankie',
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'UR3',
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'UR5',
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'UR10',
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'Puma560',
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'px100',
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'px150',
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'rx150',
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'rx200',
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'vx300',
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'vx300s',
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'wx200',
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'wx250',
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'wx250s',
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'Mico',
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'PR2',
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'LBR',
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'KinovaGen3',
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'YuMi'
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"Panda",
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"Frankie",
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"FrankieOmni",
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"UR3",
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"UR5",
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"UR10",
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"Puma560",
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"px100",
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"px150",
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"rx150",
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"rx200",
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"vx300",
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"vx300s",
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"wx200",
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"wx250",
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"wx250s",
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"Mico",
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"PR2",
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"LBR",
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"KinovaGen3",
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"YuMi",
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]

‎rtb-data/rtbdata/xacro/franka_description/robots/frankieOmni_arm.urdf.xacro

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<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="frankie">
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<xacro:include filename="$(find franka_description)/robots/frankieOmni_arm.xacro" />
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<xacro:panda_arm safety_distance="0.00"/>
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</robot>

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