robots.ur5¶

UR5 arm: six revolute joints from its Denavit–Hartenberg table, and the ADAPT hand on it.

Module Attributes

`DH_D`	Link offsets d [m] (standard Denavit–Hartenberg, manufacturer values).
`DH_A`	Link lengths a [m].
`DH_ALPHA`	Link twists α [rad].
`GRAVITY`	Gravity in the arm's base frame [m/s²], base on a table.

Functions

`arm`([name, d, a, alpha])	The UR5 alone; q holds its six joint angles [rad] (it is position-controlled).
`model`(*[, d, a, alpha])	The arm's kinematics from its DH table (d, a [m], α [rad]); site `tool` is the flange.
`with_hand`([name, mounting_angle, ...])	The UR5 with the ADAPT hand on its flange: q = (6 arm joints, 13 hand motors).