def test_init():
"""Test."""
# test error
with raises(PyboticsError):
MDHKinematicChain(np.eye(5))
# test sequence of links
MDHKinematicChain([RevoluteMDHLink()])
class UR10(Robot):
"""Universal Robots UR10 collaborative robot."""
# TODO: add manufacturer's joint limits
kinematic_chain = MDHKinematicChain(
np.array([
0, 0, 0, 118, np.pi / 2, 0, np.pi, 0, 0, 612.7, 0, 0, 0, 571.6, 0,
163.9, -np.pi / 2, 0, 0, 115.7, np.pi / 2, 0, np.pi, 92.2
]))
def __init__(self, **kwargs: Any) -> None:
"""Init robot."""
super().__init__(deepcopy(self.kinematic_chain), **kwargs)
class MecademicMeca500(Robot):
"""Mecademic Meca500 small robot."""
# TODO: add manufacturer's joint limits
kinematic_chain = MDHKinematicChain(
np.array([
0, 0, 0, 135, -np.pi / 2, 0, -np.pi / 2, 0, 0, 135, 0, 0,
-np.pi / 2, 38, 0, 120, np.pi / 2, 0, 0, 0, -np.pi / 2, 0, np.pi,
72
]))
def __init__(self, **kwargs: Any) -> None:
"""Init robot."""
super().__init__(deepcopy(self.kinematic_chain), **kwargs)
class KukaLBRiiwa7(Robot):
"""KUKA LBR iiwa 7 R800 collaborative robot."""
# TODO: add manufacturer's joint limits
kinematic_chain = MDHKinematicChain(
np.array([
0, 0, 0, 340, -np.pi / 2, 0, 0, 0, np.pi / 2, 0, 0, 400, np.pi / 2,
0, 0, 0, -np.pi / 2, 0, 0, 400, -np.pi / 2, 0, 0, 0, np.pi / 2, 0,
0, 126
]))
def __init__(self, **kwargs: Any) -> None:
"""Init robot."""
super().__init__(deepcopy(self.kinematic_chain), **kwargs)
def planar_robot():
"""Generate planar robot."""
return Robot(
MDHKinematicChain(
np.array([[0, 0, 0, 0], [0, 10, 0, 0], [0, 20, 0, 0]])))
def test_ndof():
"""Test."""
link = RevoluteMDHLink()
kc = MDHKinematicChain([link])
assert kc.ndof == 1
def test_links_setter():
"""Test."""
link = RevoluteMDHLink()
kc = MDHKinematicChain([link])
kc.links = link
def test_to_json():
"""Test."""
link = RevoluteMDHLink()
kc = MDHKinematicChain([link])
kc.to_json()
def test_repr():
"""Test."""
link = RevoluteMDHLink()
kc = MDHKinematicChain([link])
repr(kc)
def test_vector():
"""Test."""
link = RevoluteMDHLink()
kc = MDHKinematicChain([link])
np.testing.assert_allclose(kc.vector, link.vector)
def test_num_parameters():
"""Test."""
link = RevoluteMDHLink()
kc = MDHKinematicChain([link])
assert kc.num_parameters == MDHLink._size
def from_parameters(cls, parameters: Sequence[float]) -> Sized:
"""Construct Robot from Kinematic Chain parameters."""
# FIXME: assumes MDH revolute robot
kc = MDHKinematicChain.from_parameters(parameters)
return cls(kinematic_chain=kc)