|
| | ur5_reaching_conf.amp = np.array([0.0, 0.0, 0.0]) |
| |
| list | ur5_reaching_conf.CAMERA_TRANSFORM |
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| int | ur5_reaching_conf.DISPLAY_N = 20 |
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| float | ur5_reaching_conf.dt = 0.002 |
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| string | ur5_reaching_conf.ee_frame_name = "ee_fixed_joint" |
| |
| tuple | ur5_reaching_conf.EE_REF_SPHERE_COLOR = (1, 0, 0, 0.5) |
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| tuple | ur5_reaching_conf.EE_SPHERE_COLOR = (1, 0.5, 0, 0.5) |
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| bool | ur5_reaching_conf.ee_task_local_frame = False |
| |
| | ur5_reaching_conf.ee_task_mask = np.array([1.0, 1, 1, 0, 0, 0]) |
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| float | ur5_reaching_conf.kp_ee = 100.0 |
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| float | ur5_reaching_conf.kp_posture = 1.0 |
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| int | ur5_reaching_conf.LINE_WIDTH = 60 |
| |
| | ur5_reaching_conf.linewidth |
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| int | ur5_reaching_conf.N_SIMULATION = 500 |
| |
| | ur5_reaching_conf.offset = np.array([0.1, 0.0, 0.0]) |
| |
| | ur5_reaching_conf.path = Path(getModelPath(urdf)) |
| |
| | ur5_reaching_conf.phi = np.array([0.0, 0.5 * np.pi, 0.0]) |
| |
| | ur5_reaching_conf.precision |
| |
| int | ur5_reaching_conf.PRINT_N = 500 |
| |
| | ur5_reaching_conf.q0 = np.array([0.0, -1.0, 0.7, 0.0, 0.0, 0.0]) |
| |
| float | ur5_reaching_conf.REF_SPHERE_RADIUS = 0.03 |
| |
| float | ur5_reaching_conf.SPHERE_RADIUS = 0.03 |
| |
| | ur5_reaching_conf.suppress |
| |
| float | ur5_reaching_conf.tau_max_scaling = 0.4 |
| |
| int | ur5_reaching_conf.two_pi_f = 2 * np.pi * np.array([1.0, 0.5, 0.5]) |
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| string | ur5_reaching_conf.urdf = "ur_description/urdf/ur5_robot.urdf" |
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| float | ur5_reaching_conf.v_max_scaling = 0.4 |
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| float | ur5_reaching_conf.w_ee = 1.0 |
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| float | ur5_reaching_conf.w_joint_bounds = 1.0 |
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| int | ur5_reaching_conf.w_posture = 1e-3 |
| |
| float | ur5_reaching_conf.w_torque_bounds = 1.0 |
| |