ur5_conf Namespace Reference

Variables
	amp = np.array([0 * 0.02, 0.1, 0.10])
list	CAMERA_TRANSFORM
int	DISPLAY_N = 20
float	dt = 0.002
string	ee_frame_name = "ee_fixed_joint"
tuple	EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)
tuple	EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)
bool	ee_task_local_frame = False
	ee_task_mask = np.array([1.0, 1, 1, 0, 0, 0])
float	kp_ee = 5.0
float	kp_posture = 1.0
int	LINE_WIDTH = 60
	linewidth
int	N_SIMULATION = 4000
	offset = np.array([0.0, 0.0, 0.0])
	path = getModelPath(urdf)
	phi = np.array([0.0, 0.5 * np.pi, 0.0])
	precision
int	PRINT_N = 500
	q0 = np.array([0.0, -1.0, 0.7, 0.0, 0.0, 0.0])
float	REF_SPHERE_RADIUS = 0.03
float	SPHERE_RADIUS = 0.03
	suppress
float	tau_max_scaling = 0.4
float	two_pi_f = 1.4 * 2 * np.pi * np.array([1.0, 0.5, 0.5])
string	urdf = "ur_description/urdf/ur5_robot.urdf"
float	v_max_scaling = 0.4
float	w_ee = 1.0
float	w_joint_bounds = 1.0
int	w_posture = 1e-3
float	w_torque_bounds = 1.0

Variable Documentation

amp

ur5_conf.amp = np.array([0 * 0.02, 0.1, 0.10])

Definition at line 20 of file ur5_conf.py.

CAMERA_TRANSFORM

list ur5_conf.CAMERA_TRANSFORM

Initial value:

=  [
    2.582354784011841,
    1.620774507522583,
    1.0674564838409424,
    0.2770655155181885,
    0.5401807427406311,
    0.6969326734542847,
    0.3817386031150818,
]

Definition at line 42 of file ur5_conf.py.

DISPLAY_N

int ur5_conf.DISPLAY_N = 20

Definition at line 41 of file ur5_conf.py.

dt

float ur5_conf.dt = 0.002

Definition at line 16 of file ur5_conf.py.

ee_frame_name

string ur5_conf.ee_frame_name = "ee_fixed_joint"

Definition at line 36 of file ur5_conf.py.

EE_REF_SPHERE_COLOR

tuple ur5_conf.EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5)

Definition at line 54 of file ur5_conf.py.

EE_SPHERE_COLOR

tuple ur5_conf.EE_SPHERE_COLOR = (1, 0.5, 0, 0.5)

Definition at line 53 of file ur5_conf.py.

ee_task_local_frame

bool ur5_conf.ee_task_local_frame = False

Definition at line 38 of file ur5_conf.py.

ee_task_mask

ur5_conf.ee_task_mask = np.array([1.0, 1, 1, 0, 0, 0])

Definition at line 37 of file ur5_conf.py.

kp_ee

float ur5_conf.kp_ee = 5.0

Definition at line 30 of file ur5_conf.py.

kp_posture

float ur5_conf.kp_posture = 1.0

Definition at line 31 of file ur5_conf.py.

LINE_WIDTH

int ur5_conf.LINE_WIDTH = 60

Definition at line 13 of file ur5_conf.py.

linewidth

ur5_conf.linewidth

Definition at line 12 of file ur5_conf.py.

N_SIMULATION

int ur5_conf.N_SIMULATION = 4000

Definition at line 15 of file ur5_conf.py.

offset

ur5_conf.offset = np.array([0.0, 0.0, 0.0])

Definition at line 23 of file ur5_conf.py.

path

ur5_conf.path = getModelPath(urdf)

Definition at line 61 of file ur5_conf.py.

phi

ur5_conf.phi = np.array([0.0, 0.5 * np.pi, 0.0])

Definition at line 21 of file ur5_conf.py.

precision

ur5_conf.precision

Definition at line 12 of file ur5_conf.py.

PRINT_N

int ur5_conf.PRINT_N = 500

Definition at line 40 of file ur5_conf.py.

q0

ur5_conf.q0 = np.array([0.0, -1.0, 0.7, 0.0, 0.0, 0.0])

Definition at line 17 of file ur5_conf.py.

REF_SPHERE_RADIUS

float ur5_conf.REF_SPHERE_RADIUS = 0.03

Definition at line 52 of file ur5_conf.py.

SPHERE_RADIUS

float ur5_conf.SPHERE_RADIUS = 0.03

Definition at line 51 of file ur5_conf.py.

suppress

ur5_conf.suppress

Definition at line 12 of file ur5_conf.py.

tau_max_scaling

float ur5_conf.tau_max_scaling = 0.4

Definition at line 33 of file ur5_conf.py.

two_pi_f

float ur5_conf.two_pi_f = 1.4 * 2 * np.pi * np.array([1.0, 0.5, 0.5])

Definition at line 22 of file ur5_conf.py.

urdf

ur5_conf.urdf = "ur_description/urdf/ur5_robot.urdf"

Definition at line 60 of file ur5_conf.py.

v_max_scaling

float ur5_conf.v_max_scaling = 0.4

Definition at line 34 of file ur5_conf.py.

w_ee

float ur5_conf.w_ee = 1.0

Definition at line 25 of file ur5_conf.py.

w_joint_bounds

float ur5_conf.w_joint_bounds = 1.0

Definition at line 28 of file ur5_conf.py.

w_posture

int ur5_conf.w_posture = 1e-3

Definition at line 26 of file ur5_conf.py.

w_torque_bounds

float ur5_conf.w_torque_bounds = 1.0

Definition at line 27 of file ur5_conf.py.