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Adding a URDF for the AL5D robot
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‎roboticstoolbox/models/URDF/AL5D.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 math import pi
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class AL5D(ERobot):
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"""
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Class that imports a Puma 560 URDF model
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``Puma560()`` is a class which imports a Unimation Puma560 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.AL5D()
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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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.. warning:: This file has been modified so that the zero-angle pose is the
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same as the DH model in the toolbox. ``j3`` rotation is changed from
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-𝜋/2 to 𝜋/2. Dimensions are also slightly different. Both models
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include the pedestal height.
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.. note:: The original file is from https://github.com/nimasarli/puma560_description/blob/master/urdf/puma560_robot.urdf.xacro
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.. codeauthor:: Tassos Natsakis
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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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"al5d_description/urdf/al5d_robot.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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urdf_string=urdf_string,
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urdf_filepath=urdf_filepath,
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)
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self.manufacturer = "Lynxmotion"
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# self.ee_link = self.ets[9]
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# zero angles, upper arm horizontal, lower up straight ahead
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self.addconfiguration("qz", np.array([0, 0, 0, 0]))
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# reference pose, arm to the right, elbow up
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self.addconfiguration("ru", np.array([0.0000, 0.0000, 1.5707, 0.0000]))
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if __name__ == "__main__": # pragma nocover
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robot = AL5D()
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print(robot)

‎roboticstoolbox/models/URDF/__init__.py

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from roboticstoolbox.models.URDF.LBR import LBR
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from roboticstoolbox.models.URDF.KinovaGen3 import KinovaGen3
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from roboticstoolbox.models.URDF.YuMi import YuMi
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from roboticstoolbox.models.URDF.AL5D import AL5D
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__all__ = [
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"Panda",
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"LBR",
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"KinovaGen3",
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"YuMi",
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"AL5D",
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]

‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/base.stl

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‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link1.stl

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‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link2.stl

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‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link3.stl

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‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link4.stl

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‎rtb-data/rtbdata/xacro/al5d_description/meshes/base.stl

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‎rtb-data/rtbdata/xacro/al5d_description/meshes/link1.stl

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‎rtb-data/rtbdata/xacro/al5d_description/meshes/link2.stl

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‎rtb-data/rtbdata/xacro/al5d_description/meshes/link3.stl

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‎rtb-data/rtbdata/xacro/al5d_description/meshes/link4.stl

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‎rtb-data/rtbdata/xacro/al5d_description/urdf/al5d_robot.urdf

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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from al5d_robot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="AL5D" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="gray">
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<color rgba="0.8 0.8 0.8 0.9"/>
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</material>
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<material name="black">
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<color rgba="0.3 0.3 0.3 0.9"/>
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</material>
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<link name="base">
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<visual>
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<geometry>
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<mesh filename="package://al5d_description/meshes/base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy="0 0 0"/>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="0.092"/>
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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</inertial>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://al5d_description/meshes/link1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="0.187"/>
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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</inertial>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://al5d_description/meshes/link2.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="gray"/>
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</visual>
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<inertial>
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<mass value="0.044"/>
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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</inertial>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<mesh filename="package://al5d_description/meshes/link3.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy="0 0 -0.0427" xyz="0 0 0"/>
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<material name="gray"/>
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</visual>
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<inertial>
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<mass value="0.207"/>
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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</inertial>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<mesh filename="package://al5d_description/meshes/link4.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy="0 0 1.528096327" xyz="0 0 0"/>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="0.081"/>
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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</inertial>
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</link>
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<joint name="j1" type="revolute">
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<parent link="base"/>
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<child link="link1"/>
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<origin rpy="0 3.141592653 0" xyz="0 0 0.06858"/>
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<axis xyz="0 0 1"/>
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<!-- This is descibed in child frame -->
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<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
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</joint>
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<joint name="j2" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin rpy="0 1.570796325 -1.570796325" xyz="0.002 0 0"/>
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<axis xyz="0 0 1"/>
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<!-- This is descibed in child frame -->
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<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
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</joint>
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<joint name="j3" type="revolute">
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<parent link="link2"/>
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<child link="link3"/>
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<origin rpy="0 3.141592653 1.570796325" xyz="0.14679 0 0"/>
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<axis xyz="0 0 1"/>
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<!-- This is descibed in child frame -->
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<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
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</joint>
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<joint name="j4" type="revolute">
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<parent link="link3"/>
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<child link="link4"/>
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<origin rpy="3.141592653 0 1.570796325" xyz="0.17751 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
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</joint>
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</robot>
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