Added the LinearUR3 robot which should follow the correct OEM's DH pa…

ir_support/robots/LinearUR3/LinearUR3.py

@@ -0,0 +1,99 @@
+##  @file
+#   @brief Rough version of UR3 Robot on a linear rail defined by standard static DH parameters with 3D model
+#   @author Adam Scicluna
+#   @date August 23, 2025
+
+import swift
+import roboticstoolbox as rtb
+import spatialmath.base as spb
+from spatialmath import SE3
+from ir_support.robots.DHRobot3D import DHRobot3D
+import time
+import os
+
+# Useful variables
+from math import pi
+
+# -----------------------------------------------------------------------------------#
+class LinearUR3(DHRobot3D):
+    def __init__(self):
+        """
+        UR3 Robot on a Linear Rail.
+        See the use of `UR3` and base class `DHRobot3D`
+
+        """
+        # DH links
+        links = self._create_DH()
+
+        # Names of the robot link files in the directory
+        link3D_names = dict(link0 = 'base_rail', color0 = (0.2,0.2,0.2,1),      # color option only takes effect for stl file
+                            link1 = 'slider_rail', color1 = (0.1,0.1,0.1,1),
+                            link2 = 'shoulder_ur3',
+                            link3 = 'upperarm_ur3',
+                            link4 = 'forearm_ur3',
+                            link5 = 'wrist1_ur3',
+                            link6 = 'wrist2_ur3',
+                            link7 = 'wrist3_ur3')
+
+        # A joint config and the 3D object transforms to match that config
+        qtest = [0,0,-pi/2,0,0,0,0]
+        qtest_transforms = [spb.transl(0,0,0),
+                            spb.trotx(-pi/2),
+                            spb.transl(0,0.146,0) @ spb.rpy2tr(0,pi,pi, order='xyz'),
+                            spb.transl(0,0.146,-0.13) @ spb.rpy2tr(0,0,-pi/2, order='xyz'),
+                            spb.transl(0,0.39,-0.0378) @ spb.rpy2tr(0,0,-pi/2, order='xyz'),
+                            spb.transl(0,0.603,-0.0378) @ spb.rpy2tr(0,pi/2,-pi/2, order='xyz'),
+                            spb.transl(0,0.603,-0.1225) @ spb.rpy2tr(0,pi/2,-pi/2, order='xyz'),
+                            spb.transl(0.08535,0.603,-0.1225) @ spb.rpy2tr(0,pi/2,-pi/2, order='xyz')]
+
+        current_path = os.path.abspath(os.path.dirname(__file__))
+        super().__init__(links, link3D_names, name = 'LinearUR3', link3d_dir = current_path, qtest = qtest, qtest_transforms = qtest_transforms)
+        self.base = self.base * SE3.Rx(pi/2) * SE3.Ry(pi/2)
+        self.q = qtest
+
+    # -----------------------------------------------------------------------------------#
+    def _create_DH(self):
+        """
+        Create robot's standard DH model
+        """
+        links = [rtb.PrismaticDH(theta= pi, a= 0, alpha= pi/2, qlim= [-0.8, 0])]    # Prismatic Link
+        a = [0, -0.24365, -0.21325, 0, 0, 0]
+        d = [0.146, 0, 0, 0.121, 0.083, 0.0819]     # Static UR3: [0.1519, 0, 0, 0.11235, 0.08535, 0.0819]
+        alpha = [pi/2, 0, 0, pi/2, -pi/2, 0]
+        offset = [0,0,0,0,0,0]
+        qlim = [[-2*pi, 2*pi] for _ in range(6)]
+        for i in range(6):
+            link = rtb.RevoluteDH(d=d[i], a=a[i], alpha=alpha[i], offset=offset[i], qlim=qlim[i])
+            links.append(link)
+        return links
+
+    # -----------------------------------------------------------------------------------#
+    def test(self):
+        """
+        Test the class by adding 3d objects into a new Swift window and do a simple movement
+        """
+        env = swift.Swift()
+        env.launch(realtime= True)
+        self.q = self._qtest
+        self.add_to_env(env)
+
+        q_goal = [self.q[i]-pi/3 for i in range(self.n)]
+        q_goal[0] = -0.8 # Move the rail link
+        qtraj = rtb.jtraj(self.q, q_goal, 50).q
+        # fig = self.plot(self.q, limits= [-1,1,-1,1,-1,1])
+        # fig._add_teach_panel(self, self.q)
+        for q in qtraj:
+            self.q = q
+            env.step(0.02)
+            # fig.step(0.01)
+        # fig.hold()
+        env.hold()
+        time.sleep(3)
+
+# ---------------------------------------------------------------------------------------#
+if __name__ == "__main__":
+    r = LinearUR3()
+    input("Press enter to test movement of LinearUR3")
+    r.test()
+
+

pyproject.toml

@@ -4,11 +4,14 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "ir-support"
-version = "1.2.3"
+version = "1.2.4"
 description = "Python package including some classes & functions supporting the subject 41013 Industrial Robotics at UTS, along with the Robotics Toolbox for Python"
 authors = [
+    "41013 Teaching Team <41013@uts.edu.au>",
     "Quang Ngo <quang.ngohominh@gmail.com>",
-    "Gavin Paul <gavin.paul-1@uts.edu.au>"
+    "Gavin Paul <gavin.paul-1@uts.edu.au>",
+    "Adam Scicluna <Adam.Scicluna@uts.edu.au>",
+    "Khoa Nguyen <Khoa.Nguyen@uts.edu.au>"    
            ]
 packages = [{include = "ir_support"}]