from pathlib import Path
from src.robots.urdf_robot import UrdfRobot
[docs]
class Phantom(UrdfRobot):
"""Phantom Touch haptic device modelled as a passive robot.
Loads ``phantom_touch.urdf`` from *robot_root* and uses
``stylus_point`` as the end-effector link. The world link is set to
``'base'`` to match the Phantom URDF convention.
Args:
robot_root: Directory containing ``phantom_touch.urdf`` and ``meshes/``.
world_link: Name of the root link in the URDF tree (default ``'base'``).
"""
def __init__(
self,
robot_root: str | Path = "../urdfs/phantom_touch",
world_link: str = "base",
):
super().__init__(
name="Phantom",
robot_root=robot_root,
base_link="base",
tool_link="stylus_point",
urdf_filename="phantom_touch.urdf",
world_link=world_link,
)