From 613611877eda6508a4fa149583d53599703ce3e0 Mon Sep 17 00:00:00 2001 From: Andrew Choi Date: Tue, 12 Nov 2024 10:20:23 -0800 Subject: [PATCH] Add necessary Z1 files Extracted from https://github.com/petercorke/robotics-toolbox-python/pull/342 --- roboticstoolbox/models/URDF/Z1.py | 69 + roboticstoolbox/models/URDF/__init__.py | 2 + .../z1_description/z1_GripperMover.dae | 2340 +++++++++++++++++ .../z1_description/z1_GripperStator.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link00.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link01.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link02.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link03.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link04.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link05.dae | 2340 +++++++++++++++++ .../Unitree/z1_description/z1_Link06.dae | 2340 +++++++++++++++++ .../xacro/z1_description/xacro/const.xacro | 149 ++ .../xacro/z1_description/xacro/gazebo.xacro | 24 + .../xacro/z1_description/xacro/robot.xacro | 321 +++ .../z1_description/xacro/transmission.xacro | 20 + 15 files changed, 21645 insertions(+) create mode 100644 roboticstoolbox/models/URDF/Z1.py create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_GripperMover.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_GripperStator.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link00.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link01.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link02.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link03.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link04.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link05.dae create mode 100644 rtb-data/rtbdata/meshes/Unitree/z1_description/z1_Link06.dae create mode 100644 rtb-data/rtbdata/xacro/z1_description/xacro/const.xacro create mode 100644 rtb-data/rtbdata/xacro/z1_description/xacro/gazebo.xacro create mode 100644 rtb-data/rtbdata/xacro/z1_description/xacro/robot.xacro create mode 100644 rtb-data/rtbdata/xacro/z1_description/xacro/transmission.xacro diff --git a/roboticstoolbox/models/URDF/Z1.py b/roboticstoolbox/models/URDF/Z1.py new file mode 100644 index 000000000..1561c0aab --- /dev/null +++ b/roboticstoolbox/models/URDF/Z1.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python + +import numpy as np +from roboticstoolbox.robot.ERobot import ERobot +from math import pi + + +class Z1(ERobot): + """ + Class that imports a Z1 URDF model + ``Z1()`` is a class which imports a Unitree Z1 robot + definition from a URDF file. The model describes its kinematic and + graphical characteristics. + .. runblock:: pycon + >>> import roboticstoolbox as rtb + >>> robot = rtb.models.URDF.Z1() + >>> print(robot) + Defined joint configurations are: + - qz, zero joint angle configuration, 'L' shaped configuration + - qr, vertical 'READY' configuration + .. codeauthor:: Keith Siilats + .. sectionauthor:: Peter Corke + """ + + def __init__(self): + + links, name, urdf_string, urdf_filepath = self.URDF_read( + "z1_description/xacro/robot.xacro" + ) + # for link in links: + # print(link) + + super().__init__( + links, + name=name.upper(), + manufacturer="Unitree", + # gripper_links=links[9], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + # forward, -0.000019, 1.542859, -1.037883, -0.531308, 0.002487, -0.012173, 0.999650, -0.002146, -0.026357, 0.389527, 0.002468, 0.999923, 0.012173, 0.000269, 0.026329, -0.012234, 0.999578, 0.402549, 0.000000, 0.000000, 0.000000, 1.000000, + # start, -0.000336, 0.001634, 0.000000, 0.064640, 0.000248, 0.000230, 0.997805, 0.000104, 0.066225, 0.048696, -0.000087, 1.000000, -0.000252, 0.000011, -0.066225, 0.000246, 0.997805, 0.148729, 0.000000, 0.000000, 0.000000, 1.000000, + + self.qr = np.array([0.000922, 0.000680, -0.003654, -0.075006, -0.000130, 0.000035,0]) + self.qz = np.array([0.000922, 0.000680, -0.003654, -0.075006, -0.000130, 0.000035,0]) + self.grab3 = np.array([-0.247,1.271, -1.613, -0.267, -0.617,0.916,0]) + + + self.addconfiguration("qr", self.qr) + self.addconfiguration("qz", self.qz) + self.addconfiguration("grab3", self.grab3) + + # sol=robot.ikine_LM(SE3(0.5, -0.2, 0.2)@SE3.OA([1,0,0],[0,0,-1])) + # 0, 0.000922, 0.000680, -0.003654, -0.075006, -0.000130, 0.000035, 0.000006, -0.002146, -0.002523, -0.003688, -0.002988, -0.000048, 0.001385, 0.016346, + self.addconfiguration_attr( + "qn", + np.array( + [0.000922, 0.000680, -0.003654, -0.075006, -0.000130, 0.000035,0] + ), + ) + self.addconfiguration_attr("q1", [0.000922, 0.000680, -0.003654, -0.075006, -0.000130, 0.000035,0]) + + +if __name__ == "__main__": # pragma nocover + + robot = Z1() + print(robot) + print(robot.ets()) + print(robot.fkine(q=np.ones(6))) diff --git a/roboticstoolbox/models/URDF/__init__.py b/roboticstoolbox/models/URDF/__init__.py index 9517467e6..71faac54f 100644 --- a/roboticstoolbox/models/URDF/__init__.py +++ b/roboticstoolbox/models/URDF/__init__.py @@ -23,6 +23,7 @@ from roboticstoolbox.models.URDF.FetchCamera import FetchCamera from roboticstoolbox.models.URDF.Valkyrie import Valkyrie from roboticstoolbox.models.URDF.AL5D import AL5D +from roboticstoolbox.models.URDF.Z1 import Z1 __all__ = [ "Panda", @@ -50,4 +51,5 @@ "FetchCamera", "Valkyrie", "AL5D", + "Z1" ] diff --git a/rtb-data/rtbdata/meshes/Unitree/z1_description/z1_GripperMover.dae b/rtb-data/rtbdata/meshes/Unitree/z1_description/z1_GripperMover.dae new file mode 100644 index 000000000..b0a508221 --- /dev/null +++ b/rtb-data/rtbdata/meshes/Unitree/z1_description/z1_GripperMover.dae @@ 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b/rtb-data/rtbdata/xacro/z1_description/xacro/gazebo.xacro @@ -0,0 +1,24 @@ + + + + + + /z1_gazebo + gazebo_ros_control/DefaultRobotHWSim + + + + + true + + + + true + + + + true + + + + diff --git a/rtb-data/rtbdata/xacro/z1_description/xacro/robot.xacro b/rtb-data/rtbdata/xacro/z1_description/xacro/robot.xacro new file mode 100644 index 000000000..3f4d52726 --- /dev/null +++ b/rtb-data/rtbdata/xacro/z1_description/xacro/robot.xacro @@ -0,0 +1,321 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + true + + + + + + + + + + + diff --git a/rtb-data/rtbdata/xacro/z1_description/xacro/transmission.xacro b/rtb-data/rtbdata/xacro/z1_description/xacro/transmission.xacro new file mode 100644 index 000000000..a86f80c74 --- /dev/null +++ b/rtb-data/rtbdata/xacro/z1_description/xacro/transmission.xacro @@ -0,0 +1,20 @@ + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + +