ur5x4 Namespace Reference

Functions
def	loadRobot (M0, name)

Variables
string	PKG = '/opt/openrobots/share'
	URDF = join(PKG, 'ur5_description/urdf/ur5_gripper.urdf')
list	robots = []
	Mt = SE3(eye(3), np.matrix([.3, 0, 0]).T)
	q0 = np.matrix([np.pi / 4, -np.pi / 4, -np.pi / 2, np.pi / 4, np.pi / 2, 0]).T
	gepettoViewer = robots[0].viewer.gui
	w
	h
	d
list	color = [1, 1, 0.78, 1.0]
	Mtool = SE3(rotate('z', 1.268), np.matrix([0, 0, .77]).T)

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

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.

References se3.computeCollision(), se3.crba(), se3.forwardKinematics(), se3.integrate(), se3.rnea(), and se3.updateGeometryPlacements().