ur5x4 Namespace Reference

Functions
	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([0.3, 0, 0]))
	Mtool = SE3(rotate("z", 1.268), np.array([0, 0, 0.77]))
	PKG = Path("/opt/openrobots/share")
	q0 = np.array([np.pi / 4, -np.pi / 4, -np.pi / 2, np.pi / 4, np.pi / 2, 0])
list	robots = []
str	URDF = 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()

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 color = [1, 1, 0.78, 1.0]

Definition at line 49 of file ur5x4.py.

d

d

Definition at line 48 of file ur5x4.py.

gepettoViewer

list gepettoViewer = robots[0].viewer.gui

Definition at line 47 of file ur5x4.py.

h

h

Definition at line 48 of file ur5x4.py.

Mt

Mt = SE3(eye(3), np.array([0.3, 0, 0]))

Definition at line 37 of file ur5x4.py.

Mtool

Mtool = SE3(rotate("z", 1.268), np.array([0, 0, 0.77]))

Definition at line 51 of file ur5x4.py.

PKG

PKG = Path("/opt/openrobots/share")

Definition at line 14 of file ur5x4.py.

q0

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

Definition at line 42 of file ur5x4.py.

robots

list robots = []

Definition at line 35 of file ur5x4.py.

URDF

str URDF = PKG / "ur5_description/urdf/ur5_gripper.urdf"

Definition at line 15 of file ur5x4.py.

w

w

Definition at line 48 of file ur5x4.py.