ex_achd_pick_place.Achd Class Reference

Public Member Functions
	__init__ (self, mjk.Robot robot, float gravity_z, float dt)
None	new_phase (self)
kdl.Frame	measure (self)
float	link_z (self)
None	control (self, kdl.Frame target, kdl.Twist target_twist, list f_ext)

Public Attributes
	robot
	dt = robot, dt
	chain = robot.kdl_chain()
	n
	n_seg = robot.n_joints, chain.getNrOfSegments()
	fk = kdl.ChainFkSolverPos_recursive(chain)
	fk_vel = kdl.ChainFkSolverVel_recursive(chain)
	achd = kdl.ChainHdSolver_Vereshchagin(chain, root_acc, 6)
	rnea = kdl.ChainIdSolver_RNE(chain, kdl.Vector(0.0, 0.0, gravity_z))
	alpha = kdl.Jacobian(6)
list	f_zero = [kdl.Wrench.Zero() for _ in range(self.n_seg)]
int	support = -1
list	err_i = [0.0] * 6
	err_prev = None
	q
	qd = jnt(self.robot.jnt_pos_msr), jnt(self.robot.jnt_vel_msr)
	tcp = kdl.Frame()

Detailed Description

ACHD qddot for a TCP target, priced by RNEA into the robot's torque command.

Definition at line 91 of file ex_achd_pick_place.py.

Constructor & Destructor Documentation

__init__()

ex_achd_pick_place.Achd.__init__	(		self,
		mjk.Robot	robot,
		float	gravity_z,
		float	dt )

Definition at line 94 of file ex_achd_pick_place.py.

Member Function Documentation

control()

None ex_achd_pick_place.Achd.control	(		self,
		kdl.Frame	target,
		kdl.Twist	target_twist,
		list	f_ext )

Definition at line 131 of file ex_achd_pick_place.py.

References achd, alpha, ex_achd_pick_place.clamp_abs(), dt, err_i, err_prev, f_zero, fk_vel, n, q, KDL::JntArrayAcc.q, KDL::JntArrayVel.q, qd, rnea, robot, and tcp.

link_z()

float ex_achd_pick_place.Achd.link_z

(

self

)

Definition at line 126 of file ex_achd_pick_place.py.

References fk, q, KDL::JntArrayAcc.q, KDL::JntArrayVel.q, and support.

measure()

kdl.Frame ex_achd_pick_place.Achd.measure

(

self

)

Definition at line 120 of file ex_achd_pick_place.py.

new_phase()

None ex_achd_pick_place.Achd.new_phase

(

self

)

Definition at line 116 of file ex_achd_pick_place.py.

Member Data Documentation

achd

ex_achd_pick_place.Achd.achd = kdl.ChainHdSolver_Vereshchagin(chain, root_acc, 6)

Definition at line 102 of file ex_achd_pick_place.py.

Referenced by control(), and ex_achd_table_slide.Slide.control().

alpha

ex_achd_pick_place.Achd.alpha = kdl.Jacobian(6)

Definition at line 104 of file ex_achd_pick_place.py.

Referenced by control().

chain

ex_achd_pick_place.Achd.chain = robot.kdl_chain()

Definition at line 97 of file ex_achd_pick_place.py.

dt

ex_achd_pick_place.Achd.dt = robot, dt

Definition at line 95 of file ex_achd_pick_place.py.

Referenced by control().

err_i

list ex_achd_pick_place.Achd.err_i = [0.0] * 6

Definition at line 117 of file ex_achd_pick_place.py.

Referenced by control().

err_prev

ex_achd_pick_place.Achd.err_prev = None

Definition at line 118 of file ex_achd_pick_place.py.

Referenced by control(), and ex_achd_table_slide.Slide.control().

f_zero

ex_achd_pick_place.Achd.f_zero = [kdl.Wrench.Zero() for _ in range(self.n_seg)]

Definition at line 107 of file ex_achd_pick_place.py.

Referenced by control().

fk

ex_achd_pick_place.Achd.fk = kdl.ChainFkSolverPos_recursive(chain)

Definition at line 99 of file ex_achd_pick_place.py.

Referenced by ex_achd_table_slide.Slide.control(), link_z(), and ex_achd_table_slide.Slide.tcp().

fk_vel

ex_achd_pick_place.Achd.fk_vel = kdl.ChainFkSolverVel_recursive(chain)

Definition at line 100 of file ex_achd_pick_place.py.

Referenced by control().

n

ex_achd_pick_place.Achd.n

Definition at line 98 of file ex_achd_pick_place.py.

Referenced by control().

n_seg

ex_achd_pick_place.Achd.n_seg = robot.n_joints, chain.getNrOfSegments()

Definition at line 98 of file ex_achd_pick_place.py.

q

ex_achd_pick_place.Achd.q

Definition at line 121 of file ex_achd_pick_place.py.

Referenced by control(), and link_z().

qd

ex_achd_pick_place.Achd.qd = jnt(self.robot.jnt_pos_msr), jnt(self.robot.jnt_vel_msr)

Definition at line 121 of file ex_achd_pick_place.py.

Referenced by control().

rnea

ex_achd_pick_place.Achd.rnea = kdl.ChainIdSolver_RNE(chain, kdl.Vector(0.0, 0.0, gravity_z))

Definition at line 103 of file ex_achd_pick_place.py.

Referenced by control(), and ex_achd_table_slide.Slide.control().

robot

ex_achd_pick_place.Achd.robot

Definition at line 95 of file ex_achd_pick_place.py.

Referenced by control(), ex_achd_table_slide.Slide.control(), and ex_achd_table_slide.Slide.tcp().

support

int ex_achd_pick_place.Achd.support = -1

Definition at line 108 of file ex_achd_pick_place.py.

Referenced by link_z().

tcp

ex_achd_pick_place.Achd.tcp = kdl.Frame()

Definition at line 122 of file ex_achd_pick_place.py.

Referenced by control().

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The documentation for this class was generated from the following file:

• python/mj_kdl_wrapper/examples/ex_achd_pick_place.py