|
| | ur5_conf.amp = np.array([0 * 0.02, 0.1, 0.10]) |
| |
| list | ur5_conf.CAMERA_TRANSFORM |
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| int | ur5_conf.DISPLAY_N = 20 |
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| float | ur5_conf.dt = 0.002 |
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| string | ur5_conf.ee_frame_name = "ee_fixed_joint" |
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| tuple | ur5_conf.EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5) |
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| tuple | ur5_conf.EE_SPHERE_COLOR = (1, 0.5, 0, 0.5) |
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| bool | ur5_conf.ee_task_local_frame = False |
| |
| | ur5_conf.ee_task_mask = np.array([1.0, 1, 1, 0, 0, 0]) |
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| float | ur5_conf.kp_ee = 5.0 |
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| float | ur5_conf.kp_posture = 1.0 |
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| int | ur5_conf.LINE_WIDTH = 60 |
| |
| | ur5_conf.linewidth |
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| int | ur5_conf.N_SIMULATION = 4000 |
| |
| | ur5_conf.offset = np.array([0.0, 0.0, 0.0]) |
| |
| | ur5_conf.path = Path(getModelPath(urdf)) |
| |
| | ur5_conf.phi = np.array([0.0, 0.5 * np.pi, 0.0]) |
| |
| | ur5_conf.precision |
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| int | ur5_conf.PRINT_N = 500 |
| |
| | ur5_conf.q0 = np.array([0.0, -1.0, 0.7, 0.0, 0.0, 0.0]) |
| |
| float | ur5_conf.REF_SPHERE_RADIUS = 0.03 |
| |
| float | ur5_conf.SPHERE_RADIUS = 0.03 |
| |
| | ur5_conf.suppress |
| |
| float | ur5_conf.tau_max_scaling = 0.4 |
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| float | ur5_conf.two_pi_f = 1.4 * 2 * np.pi * np.array([1.0, 0.5, 0.5]) |
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| string | ur5_conf.urdf = "ur_description/urdf/ur5_robot.urdf" |
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| float | ur5_conf.v_max_scaling = 0.4 |
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| float | ur5_conf.w_ee = 1.0 |
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| float | ur5_conf.w_joint_bounds = 1.0 |
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| int | ur5_conf.w_posture = 1e-3 |
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| float | ur5_conf.w_torque_bounds = 1.0 |
| |