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Merge pull request #287 from tassos/AL5D-support
Al5D Support
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‎roboticstoolbox/models/DH/AL5D.py

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"""
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@author: Tassos Natsakis
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"""
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import numpy as np
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from roboticstoolbox import DHRobot, RevoluteMDH
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from spatialmath import SE3
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class AL5D(DHRobot):
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"""
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Class that models a Lynxmotion AL5D manipulator
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:param symbolic: use symbolic constants
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:type symbolic: bool
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``AL5D()`` is an object which models a Lynxmotion AL5D robot and
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describes its kinematic and dynamic characteristics using modified DH
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conventions.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.AL5D()
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>>> print(robot)
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Defined joint configurations are:
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- qz, zero joint angle configuration
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.. note::
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- SI units are used.
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:References:
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- 'Reference of the robot <http://www.lynxmotion.com/c-130-al5d.aspx>'_
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.. codeauthor:: Tassos Natsakis
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""" # noqa
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def __init__(self, symbolic=False):
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if symbolic:
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import spatialmath.base.symbolic as sym
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zero = sym.zero()
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pi = sym.pi()
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else:
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from math import pi
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zero = 0.0
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# robot length values (metres)
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a = [0, 0.002, 0.14679, 0.17751]
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d = [-0.06858, 0, 0, 0]
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alpha = [pi, pi/2, pi, pi]
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offset = [pi/2, pi, -0.0427, -0.0427-pi/2]
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# mass data as measured
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mass = [0.187, 0.044, 0.207, 0.081]
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# center of mass as calculated through CAD model
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center_of_mass = [
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[0.01724, -0.00389, 0.00468],
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[0.07084, 0.00000, 0.00190],
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[0.05615, -0.00251, -0.00080],
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[0.04318, 0.00735, -0.00523],
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]
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# moments of inertia are practically zero
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moments_of_inertia = [
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[0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0],
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[0, 0, 0, 0, 0, 0]
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]
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joint_limits = [
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[-pi/2, pi/2],
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[-pi/2, pi/2],
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[-pi,2, pi/2],
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[-pi/2, pi/2],
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]
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links = []
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for j in range(4):
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link = RevoluteMDH(
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d=d[j],
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a=a[j],
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alpha=alpha[j],
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offset=offset[j],
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r=center_of_mass[j],
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I=moments_of_inertia[j],
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G=1,
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B=0,
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Tc=[0,0],
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qlim=joint_limits[j]
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)
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links.append(link)
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tool=SE3(0.07719,0,0)
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super().__init__(
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links,
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name="AL5D",
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manufacturer="Lynxmotion",
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keywords=('dynamics', 'symbolic'),
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symbolic=symbolic,
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tool=tool
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)
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# zero angles
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self.addconfiguration("home", np.array([pi/2, pi/2, pi/2, pi/2]))
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if __name__ == '__main__': # pragma nocover
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al5d = AL5D(symbolic=False)
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print(al5d)
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print(al5d.dyntable())

‎roboticstoolbox/models/DH/__init__.py

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from roboticstoolbox.models.DH.TwoLink import TwoLink
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from roboticstoolbox.models.DH.Hyper3d import Hyper3d
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from roboticstoolbox.models.DH.P8 import P8
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from roboticstoolbox.models.DH.AL5D import AL5D
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__all__ = [
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'Baxter',
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'TwoLink',
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'P8',
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'AL5D',
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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 AL5D URDF model
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``AL5D()`` is a class which imports a Lynxmotion AL5D 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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- up, robot poiting upwards
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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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# zero angles, upper arm pointing up, lower arm straight ahead
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self.addconfiguration("qz", np.array([0, 0, 0, 0]))
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# reference pose robot pointing upwards
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self.addconfiguration("up", 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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<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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