pinocchio  UNKNOWN
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().