Python loadUR Examples

Example #1

File: multiple_robots_gviewer.py Project: MedericFourmy/phd_misc

def 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).
    '''
    robot = loadUR()
    robot.model.jointPlacements[1] = M0 * robot.model.jointPlacements[1]
    robot.visual_model.geometryObjects[0].placement = M0 * robot.visual_model.geometryObjects[0].placement
    robot.visual_data.oMg[0] = M0 * robot.visual_data.oMg[0]
    robot.initViewer(loadModel=True, sceneName="world/" + name)
    return robot

Example #2

class UR5Test(RobotTestCase):
    RobotTestCase.ROBOT = example_robot_data.loadUR()
    RobotTestCase.NQ = 6
    RobotTestCase.NV = 6

Example #3

class UR5LimitedTest(RobotTestCase):
    RobotTestCase.ROBOT = example_robot_data.loadUR(limited=True)
    RobotTestCase.NQ = 6
    RobotTestCase.NV = 6

Example #4

class UR5GripperTest(RobotTestCase):
    RobotTestCase.ROBOT = example_robot_data.loadUR(gripper=True)
    RobotTestCase.NQ = 6
    RobotTestCase.NV = 6

Example #5

File: ur5_config.py Project: olivier-stasse/Fast-Robust-ROA

from scipy.integrate import ode, odeint
from sklearn import linear_model
from sklearn.linear_model import LinearRegression
from sklearn.preprocessing import PolynomialFeatures
import matlab.engine
import time
import pandas as pd
import pinocchio
from pinocchio.utils import *
import example_robot_data

# dynamics, can be replaced by anything else
d = 12
m = 6

robot = example_robot_data.loadUR()
q0 = np.array([0., -0.2 * math.pi, -0.6 * math.pi, 0, 0, 0])
v = pinocchio.utils.zero(robot.model.nv)
a = pinocchio.utils.zero(robot.model.nv)
u0 = pinocchio.rnea(robot.model, robot.data, q0, v,
                    a)  # recursive Newton-Euler
x0 = np.zeros(12)
x0[:6] = q0  # u0 has been defined above


def f(x, u):
    q = x[:6]
    dq = x[6:]
    a = pinocchio.aba(robot.model, robot.data, q, dq, u)
    f = np.zeros(12)
    f[:6] = dq.copy()