Functions | Variables
ur5x4 Namespace Reference

Functions

def loadRobot (M0, name)
 

Variables

list color = [1, 1, 0.78, 1.0]
 
 d
 
list gepettoViewer = robots[0].viewer.gui
 
 h
 
 Mt = SE3(eye(3), np.array([.3, 0, 0]))
 
 Mtool = SE3(rotate('z', 1.268), np.array([0, 0, .77]))
 
string PKG = '/opt/openrobots/share'
 
 q0 = np.array([np.pi / 4, -np.pi / 4, -np.pi / 2, np.pi / 4, np.pi / 2, 0])
 
list robots = []
 
 URDF = join(PKG, 'ur5_description/urdf/ur5_gripper.urdf')
 
 w
 

Detailed Description

Load 4 times the UR5 model, plus a plate object on top of them, to feature a simple parallel robot.
No optimization, this file is just an example of how to load the models.

Function Documentation

◆ loadRobot()

def ur5x4.loadRobot (   M0,
  name 
)
This function load a UR5 robot n a new model, move the basis to placement <M0>
and add the corresponding visuals in gepetto viewer with name prefix given by string <name>.
It returns the robot wrapper (model,data).

Definition at line 18 of file ur5x4.py.

Variable Documentation

◆ color

list ur5x4.color = [1, 1, 0.78, 1.0]

Definition at line 46 of file ur5x4.py.

◆ d

ur5x4.d

Definition at line 45 of file ur5x4.py.

◆ gepettoViewer

list ur5x4.gepettoViewer = robots[0].viewer.gui

Definition at line 44 of file ur5x4.py.

◆ h

ur5x4.h

Definition at line 45 of file ur5x4.py.

◆ Mt

ur5x4.Mt = SE3(eye(3), np.array([.3, 0, 0]))

Definition at line 34 of file ur5x4.py.

◆ Mtool

ur5x4.Mtool = SE3(rotate('z', 1.268), np.array([0, 0, .77]))

Definition at line 48 of file ur5x4.py.

◆ PKG

string ur5x4.PKG = '/opt/openrobots/share'

Definition at line 14 of file ur5x4.py.

◆ q0

ur5x4.q0 = np.array([np.pi / 4, -np.pi / 4, -np.pi / 2, np.pi / 4, np.pi / 2, 0])

Definition at line 39 of file ur5x4.py.

◆ robots

list ur5x4.robots = []

Definition at line 32 of file ur5x4.py.

◆ URDF

ur5x4.URDF = join(PKG, 'ur5_description/urdf/ur5_gripper.urdf')

Definition at line 15 of file ur5x4.py.

◆ w

ur5x4.w

Definition at line 45 of file ur5x4.py.



pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:36