Inheritance diagram for MobileRobotWrapper:

Collaboration diagram for MobileRobotWrapper:

Public Member Functions
def	__init__ (self, urdf, pkgs)

def	display (self, q)

def	initDisplay (self, loadModel)

Public Attributes
	data

Detailed Description

The class models a mobile robot with UR5 arm, feature 3+6 DOF.
The configuration of the basis is represented by [X, Y, cos, sin], with the additionnal constraint
that (cos, sin) should have norm 1. Hence take care when sampling and integrating configurations.
The robot is depicted as an orange box with two black cylinders (wheels) atop of which is the
classical (realistic) UR5 model.
The model also features to OPERATIONAL frames, named "mobile" (on the front of the mobile basis, 30cm
above the ground) and "tool" (at the very end of the effector).

Definition at line 8 of file mobilerobot.py.

The documentation for this class was generated from the following file:

doc/d-practical-exercises/src/mobilerobot.py

Public Member Functions

Public Attributes

Detailed Description