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add timda_singe7
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‎roboticstoolbox/models/DH/TimdaDual8.py renamed to ‎roboticstoolbox/models/DH/TimdaSingle7.py

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,3 @@
1-
#!/usr/bin/env python
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"""
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@author: Gautam Sinha, Indian Institute of Technology, Kanpur
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(original MATLAB version)
@@ -12,23 +11,27 @@
1211
import numpy as np
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1413

15-
class TimdaDual8(DHRobot):
14+
class TimdaSingle7(DHRobot):
1615
"""
17-
Class that models a ICLAB TIMDA 8-DoF (7-DoF+1 Slide) manipulator
16+
Class that models a ICLAB TIMDA 7-DoF (7-DoF+no Slide) manipulator
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19-
``TimdaDual8()`` is a class which models a ICLAB TIMDA robot and
18+
``TimdaSingle7()`` is a class which models a ICLAB TIMDA robot and
2019
describes its kinematic characteristics using standard DH
2120
conventions.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
26-
>>> robot = rtb.models.DH.TimdaDual8()
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>>> robot = rtb.models.DH.TimdaSingle7()
2726
>>> print(robot)
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Defined joint configurations are:
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- qk1, nominal working position 1 (TODO)
31+
- qz, zero joint angle configuration, 'L' shaped configuration
32+
- qr, vertical 'READY' configuration
33+
- qs, arm is stretched out in the x-direction
34+
- qn, arm is at a nominal non-singular configuration
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.. note::
3437
- SI units of metres are used.
@@ -90,9 +93,9 @@ def __init__(self):
9093
# Create SerialLink object
9194
super().__init__(
9295
L,
93-
name="TimdaDual8",
96+
name="TimdaSingle7",
9497
manufacturer="ICLAB",
95-
# meshdir="meshes/ICLAB/TimdaDual8",
98+
# meshdir="meshes/ICLAB/TimdaSingle7",
9699
)
97100

98101
self.qr = np.array([pi / 2, pi / 2, pi, pi, 0.0, 0.0, 0.0])
@@ -101,5 +104,5 @@ def __init__(self):
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102105

103106
if __name__ == "__main__": # pragma nocover
104-
robot = TimdaDual8()
107+
robot = TimdaSingle7()
105108
print(robot)

‎roboticstoolbox/models/DH/__init__.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,7 @@
2222
from roboticstoolbox.models.DH.Hyper3d import Hyper3d
2323
from roboticstoolbox.models.DH.P8 import P8
2424
from roboticstoolbox.models.DH.AL5D import AL5D
25-
from roboticstoolbox.models.DH.TimdaDual8 import TimdaDual8
25+
from roboticstoolbox.models.DH.TimdaSingle7 import TimdaSingle7
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__all__ = [
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'Panda',
@@ -49,5 +49,5 @@
4949
'TwoLink',
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'P8',
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'AL5D',
52-
'TimdaDual8',
52+
'TimdaSingle7',
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]

‎roboticstoolbox/models/URDF/TimdaSingle7.py

Lines changed: 73 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,73 @@
1+
#!/usr/bin/env python
2+
3+
import numpy as np
4+
from roboticstoolbox.robot.Robot import Robot
5+
from spatialmath import SE3
6+
7+
8+
class TimdaSingle7(Robot):
9+
"""
10+
Class that imports a TimdaSingle7 URDF model
11+
12+
``TimdaSingle7()`` is a class which imports a ICLAB TimdaSingle7 robot definition
13+
from a URDF file. The model describes its kinematic and graphical
14+
characteristics.
15+
16+
.. runblock:: pycon
17+
18+
>>> import roboticstoolbox as rtb
19+
>>> robot = rtb.models.URDF.TimdaSingle7()
20+
>>> print(robot)
21+
22+
Defined joint configurations are:
23+
24+
- qz, zero joint angle configuration, 'L' shaped configuration
25+
- qr, vertical 'READY' configuration
26+
- qs, arm is stretched out in the x-direction
27+
- qn, arm is at a nominal non-singular configuration
28+
29+
.. codeauthor:: Jesse Haviland
30+
.. sectionauthor:: Peter Corke
31+
"""
32+
33+
def __init__(self):
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35+
links, name, urdf_string, urdf_filepath = self.URDF_read(
36+
"timda_single7_description/urdf/single_arm.xacro"
37+
)
38+
39+
print("links", links)
40+
print("name", name)
41+
print("urdf_string", urdf_string)
42+
print("urdf_filepath", urdf_filepath)
43+
44+
super().__init__(
45+
links,
46+
name="TimdaSingle7",
47+
manufacturer="ICLAB",
48+
# gripper_links=links[9],
49+
urdf_string=urdf_string,
50+
urdf_filepath=urdf_filepath,
51+
)
52+
53+
# self.grippers[0].tool = SE3(0, 0, 0.1034)
54+
55+
# self.qdlim = np.array(
56+
# [2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
57+
# )
58+
59+
# self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
60+
# self.qz = np.zeros(7)
61+
62+
# self.addconfiguration("qr", self.qr)
63+
# self.addconfiguration("qz", self.qz)
64+
65+
66+
if __name__ == "__main__": # pragma nocover
67+
68+
r = TimdaSingle7()
69+
70+
# r.qz
71+
72+
# for link in r.grippers[0].links:
73+
# print(link)

‎roboticstoolbox/models/URDF/__init__.py

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -23,6 +23,7 @@
2323
from roboticstoolbox.models.URDF.FetchCamera import FetchCamera
2424
from roboticstoolbox.models.URDF.Valkyrie import Valkyrie
2525
from roboticstoolbox.models.URDF.AL5D import AL5D
26+
from roboticstoolbox.models.URDF.TimdaSingle7 import TimdaSingle7
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__all__ = [
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"Panda",
@@ -50,4 +51,5 @@
5051
"FetchCamera",
5152
"Valkyrie",
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"AL5D",
54+
"TimdaSingle7",
5355
]

‎rtb-data/rtbdata/xacro/timda_single7_description/meshes/Base.STL

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‎rtb-data/rtbdata/xacro/timda_single7_description/meshes/Link_1.STL

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‎rtb-data/rtbdata/xacro/timda_single7_description/meshes/Link_2.STL

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‎rtb-data/rtbdata/xacro/timda_single7_description/meshes/Link_3.STL

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‎rtb-data/rtbdata/xacro/timda_single7_description/meshes/Link_4.STL

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‎rtb-data/rtbdata/xacro/timda_single7_description/meshes/Link_5.STL

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