models linted
from roboticstoolbox import ETS as ET
from roboticstoolbox import ERobot
-from math import pi
+
class Puma560(ERobot):
"""
@@ -14,8 +14,8 @@ class Puma560(ERobot):
- The model has different joint offset conventions compared to
``DH.Puma560()``. For this robot:
- - Zero joint angles ``qz`` is the vertical configuration, corresponding to
- ``qr`` with ``DH.Puma560()``
+ - Zero joint angles ``qz`` is the vertical configuration,
+ corresponding to ``qr`` with ``DH.Puma560()``
- ``qbent`` is the bent configuration, corresponding to
``qz`` with ``DH.Puma560()``
@@ -25,7 +25,7 @@ class Puma560(ERobot):
no. 3, pp. 590-594, June 2007, doi: 10.1109/TRO.2007.896765.
- https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters
- """
+ """ # noqa
def __init__(self):
# Puma dimensions (m)
@@ -36,8 +36,9 @@ class Puma560(ERobot):
l5 = 0.4318
l6 = 0.0203
- e = ET.tz(l1) * ET.rz() * ET.ty(l2) * ET.ry() * ET.tz(l3) * ET.tx(l6) * \
- ET.ty(l4) * ET.ry() * ET.tz(l5) * ET.rz() * ET.ry() * ET.rz() * ET.tx(0.2)
+ e = ET.tz(l1) * ET.rz() * ET.ty(l2) * ET.ry() * ET.tz(l3) * \
+ ET.tx(l6) * ET.ty(l4) * ET.ry() * ET.tz(l5) * ET.rz() * \
+ ET.ry() * ET.rz() * ET.tx(0.2)
super().__init__(
e,
@@ -50,8 +51,8 @@ class Puma560(ERobot):
self.addconfiguration(
"qbent", [0, -90, 90, 0, 0, 0], 'deg')
+
if __name__ == '__main__': # pragma nocover
robot = Puma560()
print(robot)
-
