Use list rather than separate link variables
fixup super() call
@@ -43,8 +43,9 @@ class IRB140(DHRobot):
d6 = 0.065
# Create Links
- L1 = RevoluteDH(
- theta=0,
+
+ L = [
+ RevoluteDH(
d=d1,
a=a1,
alpha=-pi/2,
@@ -53,9 +54,9 @@ class IRB140(DHRobot):
I=np.array([512052539.74, 1361335.88, 51305020.72,
1361335.88, 464074688.59, 70335556.04,
51305020.72, 70335556.04, 462745526.12])*1e-9
+ ),
- L2 = RevoluteDH(
- theta=0,
+ RevoluteDH(
d=0,
a=a2,
alpha=0,
@@ -64,10 +65,9 @@ class IRB140(DHRobot):
I=np.array([94817914.40, -3859712.77, 37932017.01,
-3859712.77, 328604163.24, -1088970.86,
37932017.01, -1088970.86, 277463004.88])*1e-9
- )
+ ),
- L3 = RevoluteDH(
- theta=0,
+ RevoluteDH(
d=0,
a=0,
alpha=pi/2,
@@ -76,30 +76,26 @@ class IRB140(DHRobot):
I=np.array([500060915.95, -1863252.17, 934875.78,
-1863252.17, 75152670.69, -15204130.09,
934875.78, -15204130.09, 515424754.34])*1e-9,
- )
+ ),
- L4 = RevoluteDH(
- theta=0,
+ RevoluteDH(
d=d4,
a=0,
alpha=-pi/2
- )
+ ),
- L5 = RevoluteDH(
- theta=0,
+ RevoluteDH(
d=0,
a=0,
alpha=pi/2
- )
+ ),
- L6 = RevoluteDH(
- theta=0,
+ RevoluteDH(
d=d6,
a=0,
alpha=pi/2
)
-
- L = [L1, L2, L3, L4, L5, L6]
+ ]
self._qz = np.array([0, 0, 0, 0, 0, 0])
@@ -107,9 +103,9 @@ class IRB140(DHRobot):
self._qr = np.array([0, -90*deg, 90*deg, 0, 90*deg, -90*deg])
- super(Irb140, self).__init__(
+ super().__init__(
L,
- basemesh="ABB/IRB140/link0.stl",
+ # basemesh="ABB/IRB140/link0.stl",
name='IRB 140',
manufacturer='ABB')
