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‎build_lite6.py

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#!/usr/bin/env python
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# Copy this file to ~/.local/lib/python3.8/site-packages/rtbdata/xacro
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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 Lite6(Robot):
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"""
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Class that imports a Panda URDF model
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``Panda()`` is a class which imports a Franka-Emika Panda 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.Panda()
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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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"lite6.urdf"
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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="UFactory",
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# gripper_links=links[9],
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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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[2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100]
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)
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self.qr = np.array([0.0, 0.2792, 0.8499, 0.0, 0.5724, 0.0])
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self.qz = np.zeros(7)
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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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r = Lite6()
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# r.qr
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qz = np.zeros(6)
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qr = np.array([0.0, 0.2792, 0.8499, 0.0, 0.5724, 0.0])
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print(r.fkine(qr))
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# for link in r.grippers[0].links:
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# print(link)

‎lite6.urdf

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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from xarm_device.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="Lite6">
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<!-- Insert at the beginning of xarm_device_macro.xacro -->
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<material name="Black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="Red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<material name="Silver">
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<color rgba="0.753 0.753 0.753 1.0"/>
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</material>
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<link name="world"/>
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<joint name="world_joint" type="fixed">
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<parent link="world"/>
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<child link="link_base"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="link_base">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00829544579053192 3.26357432323433E-05 0.0631194584987089"/>
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<mass value="1.65393501783165"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link_base.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link_base.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<link name="link1">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00036 0.04195 -0.0025"/>
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<mass value="1.411"/>
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<inertia ixx="0.0014516400000000001" ixy="-1.24e-05" ixz="6.7e-06" iyy="0.0008872999999999999" iyz="-0.0001255" izz="0.00131993"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link1.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link1.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="joint1" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.2435"/>
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<parent link="link_base"/>
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<child link="link1"/>
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<axis xyz="0 0 1"/>
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<limit effort="50.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link2">
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<inertial>
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<origin rpy="0 0 0" xyz="0.179 0.0 0.0584"/>
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<mass value="1.34"/>
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<inertia ixx="0.0015854" ixy="6.766e-06" ixz="0.00115136" iyy="0.0056097" iyz="-1.1399999999999999e-06" izz="0.00485"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link2.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link2.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="joint2" type="revolute">
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<origin rpy="1.5708 -1.5708 3.1416" xyz="0 0 0"/>
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<parent link="link1"/>
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<child link="link2"/>
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<axis xyz="0 0 1"/>
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<limit effort="50.0" lower="-2.61799" upper="2.61799" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link3">
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<inertial>
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<origin rpy="0 0 0" xyz="0.072 -0.0357 -0.001"/>
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<mass value="0.953"/>
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<inertia ixx="0.0008861" ixy="0.00039286999999999997" ixz="-7.065999999999999e-05" iyy="0.0015784999999999998" iyz="2.4449999999999998e-05" izz="0.00184677"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link3.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link3.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="joint3" type="revolute">
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<origin rpy="-3.1416 0 1.5708" xyz="0.2002 0 0"/>
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<parent link="link2"/>
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<child link="link3"/>
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<axis xyz="0 0 1"/>
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<limit effort="32.0" lower="-0.061087" upper="5.235988" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link4">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.002 -0.0285 -0.0813"/>
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<mass value="1.284"/>
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<inertia ixx="0.003705" ixy="2e-06" ixz="-7.17e-06" iyy="0.0030455" iyz="0.00093188" izz="0.0015412999999999998"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link4.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link4.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="joint4" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0.087 -0.22761 0"/>
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<parent link="link3"/>
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<child link="link4"/>
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<axis xyz="0 0 1"/>
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<limit effort="32.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link5">
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.01 0.0019"/>
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<mass value="0.804"/>
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<inertia ixx="0.0005667999999999999" ixy="-6e-07" ixz="5.299999999999999e-06" iyy="0.0005076999999999999" iyz="4.8e-07" izz="0.00053"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link5.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link5.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="joint5" type="revolute">
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<origin rpy="1.5708 0 0" xyz="0 0 0"/>
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<parent link="link4"/>
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<child link="link5"/>
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<axis xyz="0 0 1"/>
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<limit effort="32.0" lower="-2.1642" upper="2.1642" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link6">
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 -0.00194 -0.0102"/>
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<mass value="0.13"/>
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<inertia ixx="7.726e-05" ixy="-1e-06" ixz="-4e-07" iyy="8.5665e-05" iyz="6e-07" izz="0.00014813999999999997"/>
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</inertial>
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/visual/link6.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="Silver"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/lite6/collision/link6.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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</link>
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<joint name="joint6" type="revolute">
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<origin rpy="-1.5708 0 0" xyz="0 0.0625 0"/>
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<parent link="link5"/>
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<child link="link6"/>
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<axis xyz="0 0 1"/>
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<limit effort="20.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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</robot>
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