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Add Yumi model
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‎roboticstoolbox/models/URDF/YuMi.py

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#!/usr/bin/env python
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import numpy as np
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from roboticstoolbox.robot.ERobot import ERobot
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class YuMi(ERobot):
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"""
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Class that imports an ABB YuMi URDF model
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``YuMi()`` is a class which imports an ABB YuMi (IRB14000) robot definition
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from a URDF file. The model describes its kinematic and graphical
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characteristics.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.URDF.YuMi()
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>>> print(robot)
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Defined joint configurations are:
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- qz, zero joint angle configuration, 'L' shaped configuration
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- qr, vertical 'READY' configuration
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:reference:
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- `https://github.com/OrebroUniversity/yumi <https://github.com/OrebroUniversity/yumi>`_
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.. codeauthor:: Jesse Haviland
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.. sectionauthor:: Peter Corke
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"""
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def __init__(self):
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args = super().urdf_to_ets_args(
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"yumi_description/urdf/yumi.urdf.xacro")
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super().__init__(
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args[0],
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name=args[1],
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manufacturer='Interbotix'
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)
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self.addconfiguration(
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"qz", np.array([0, 0, 0, 0, 0, 0, 0]))
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self.addconfiguration(
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"qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4]))
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if __name__ == '__main__': # pragma nocover
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robot = YuMi()
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print(robot)

‎rtb-data/rtbdata/xacro/yumi_description/README.md

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Urdf & Gazebo files for the ABB YuMi (IRB 14000) robot
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### Dependencies
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This package depends on ros-industrial which is not released on kinetic yet. So skip step 2 if you have already install ros-industrial.
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#### Step 1
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Install all of these:
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```
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sudo apt-get install ros-kinetic-control-toolbox ros-kinetic-controller-interface ros-kinetic-controller-manager ros-kinetic-joint-limits-interface ros-kinetic-transmission-interface ros-kinetic-moveit-core ros-kinetic-moveit-planners ros-kinetic-moveit-ros-planning
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```
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#### Step 2
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Build the industrial_core package from source. To do that, clone OrebroUniversity's fork of the package from: https://github.com/OrebroUniversity/industrial_core.git into your ros workspace and run `catkin_make`.
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#### Step 3
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If your industrial_core is in a different workspace, source the workspace containing industrial_core.
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Finally, `catkin_make` the workspace containing the clone of this package.

‎rtb-data/rtbdata/xacro/yumi_description/README2.md

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The joint numbering for each arm follows ABB's strange convention, namely (in physical order starting with the joint connecting to the body): 1, 2, 7, 3, 4, 5, 6

‎rtb-data/rtbdata/xacro/yumi_description/license.dat

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Copyright (c) 2016, Robert Krug & Todor Stoyanov, AASS Research Center, Orebro University, Sweden
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎rtb-data/rtbdata/xacro/yumi_description/meshes/body.stl

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‎rtb-data/rtbdata/xacro/yumi_description/meshes/coarse/.gitignore

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‎rtb-data/rtbdata/xacro/yumi_description/meshes/coarse/body.stl

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‎rtb-data/rtbdata/xacro/yumi_description/meshes/coarse/link_1.stl

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