from pathlib import Path
from src.robots.urdf_robot import UrdfRobot
[docs]
class MTM(UrdfRobot):
"""Master Tool Manipulator (MTM) robot.
Loads ``mtm.urdf`` from *robot_root* and uses ``ee_link`` as the
end-effector link.
Args:
robot_root: Directory containing ``mtm.urdf`` and ``meshes/``.
world_link: Name of the root/world link in the URDF tree.
"""
def __init__(
self,
robot_root: str | Path = "../urdfs/mtm",
world_link: str = "world",
):
super().__init__(
name="MTM",
robot_root=robot_root,
base_link="top_panel",
tool_link="ee_link",
urdf_filename="mtm.urdf",
world_link=world_link,
)