Adding a URDF for the AL5D robot

Author: tassos

roboticstoolbox/models/URDF/AL5D.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+
+import numpy as np
+from roboticstoolbox.robot.ERobot import ERobot
+from math import pi
+
+
+class AL5D(ERobot):
+    """
+    Class that imports a Puma 560 URDF model
+
+    ``Puma560()`` is a class which imports a Unimation Puma560 robot definition
+    from a URDF file.  The model describes its kinematic and graphical
+    characteristics.
+
+    .. runblock:: pycon
+
+        >>> import roboticstoolbox as rtb
+        >>> robot = rtb.models.URDF.AL5D()
+        >>> print(robot)
+
+    Defined joint configurations are:
+
+    - qz, zero joint angle configuration, 'L' shaped configuration
+    - qr, vertical 'READY' configuration
+    - qs, arm is stretched out in the x-direction
+    - qn, arm is at a nominal non-singular configuration
+
+    .. warning:: This file has been modified so that the zero-angle pose is the
+        same as the DH model in the toolbox. ``j3`` rotation is changed from
+        -𝜋/2 to 𝜋/2.  Dimensions are also slightly different.  Both models
+        include the pedestal height.
+
+    .. note:: The original file is from https://github.com/nimasarli/puma560_description/blob/master/urdf/puma560_robot.urdf.xacro
+
+    .. codeauthor:: Tassos Natsakis
+    """
+
+    def __init__(self):
+
+        links, name, urdf_string, urdf_filepath = self.URDF_read(
+            "al5d_description/urdf/al5d_robot.urdf"
+        )
+
+        super().__init__(
+            links,
+            name=name,
+            urdf_string=urdf_string,
+            urdf_filepath=urdf_filepath,
+        )
+
+        self.manufacturer = "Lynxmotion"
+        # self.ee_link = self.ets[9]
+
+        # zero angles, upper arm horizontal, lower up straight ahead
+        self.addconfiguration("qz", np.array([0, 0, 0, 0]))
+
+        # reference pose, arm to the right, elbow up
+        self.addconfiguration("ru", np.array([0.0000, 0.0000, 1.5707, 0.0000]))
+
+if __name__ == "__main__":  # pragma nocover
+
+    robot = AL5D()
+    print(robot)

roboticstoolbox/models/URDF/__init__.py

@@ -19,6 +19,7 @@
 from roboticstoolbox.models.URDF.LBR import LBR
 from roboticstoolbox.models.URDF.KinovaGen3 import KinovaGen3
 from roboticstoolbox.models.URDF.YuMi import YuMi
+from roboticstoolbox.models.URDF.AL5D import AL5D
 
 __all__ = [
     "Panda",
@@ -42,4 +43,5 @@
     "LBR",
     "KinovaGen3",
     "YuMi",
+    "AL5D",
 ]