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.