RobotModel.zero_configuration

RobotModel.zero_configuration()

Get the zero joint configuration.

If zero is out of joint limits (upper, lower) then (upper + lower) / 2 is used as joint value.

Examples

>>> robot = RobotModel.ur5()
>>> robot.zero_configuration()
Configuration((0.000, 0.000, 0.000, 0.000, 0.000, 0.000), (0, 0, 0, 0, 0, 0),             ('shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'))