pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
ur5x4 Namespace Reference

Functions

def 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 = []
 
string 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()

def ur5x4.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.