Functions | |
def | loadRobot (M0, name) |
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.
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().