Public Member Functions
	__init__ (self, mjk.Env env, mjk.Robot robot)
kdl.Frame	tcp (self)
float	elbow_height (self)
None	restart (self)
None	control (self)
None	measure (self)
bool	done (self)
bool	finished (self)

Public Attributes
	env
	robot = env, robot
	chain = robot.kdl_chain()
	fk = kdl.ChainFkSolverPos_recursive(self.chain)
	achd_approach = kdl.ChainHdSolver_Vereshchagin(self.chain, root_acc, 6)
	achd = kdl.ChainHdSolver_Vereshchagin(self.chain, root_acc, 5)
	rnea = kdl.ChainIdSolver_RNE(self.chain, kdl.Vector(0.0, 0.0, gravity_z))
	alpha6 = alpha_all()
	alpha5 = alpha_no_linear_z()
list	f_ext = [kdl.Wrench.Zero() for _ in range(segments)]
list	no_wrench = [kdl.Wrench.Zero() for _ in range(segments)]
	table_geom = env.model.geom("top").id
	tcp_site = env.model.site(TCP_SITE).id
	target = kdl.Frame(self.tracked.M, self.tracked.p + kdl.Vector(MOVE_X, 0.0, 0.0))
kdl.Frame	tracked = self.tcp()
int	phase = APPROACH
	err_prev = None
int	steps = 0
	touchdown = math.nan
float	elbow_min = self.elbow_height()
int	contact_steps = 0
float	reaction_sum = 0.0
int	reaction_count = 0

Detailed Description

The ACHD controller and the press measurement; restart() replays it from the current pose.

Definition at line 152 of file ex_achd_table_slide.py.

Constructor & Destructor Documentation

◆ init()

ex_achd_table_slide.Slide.__init__	(		self,
		mjk.Env	env,
		mjk.Robot	robot )

Definition at line 155 of file ex_achd_table_slide.py.

Member Function Documentation

◆ control()

None ex_achd_table_slide.Slide.control ( self )

Definition at line 196 of file ex_achd_table_slide.py.

References ex_achd_pick_place.Achd.achd, achd, achd_approach, alpha5, alpha6, ex_achd_table_slide.clamp_abs(), env, mj_kdl::ResetContext.env, ex_achd_pick_place.Achd.err_prev, err_prev, f_ext, ex_achd_pick_place.Achd.fk, fk, ex_achd_table_slide.jnt(), no_wrench, phase, ex_achd_pick_place.Achd.rnea, rnea, ex_achd_pick_place.Achd.robot, robot, steps, target, and tracked.

◆ done()

bool ex_achd_table_slide.Slide.done ( self )

Definition at line 260 of file ex_achd_table_slide.py.

References finished(), phase, and steps.

◆ elbow_height()

float ex_achd_table_slide.Slide.elbow_height ( self )

Definition at line 181 of file ex_achd_table_slide.py.

References env, and mj_kdl::ResetContext.env.

Referenced by measure().

◆ finished()

bool ex_achd_table_slide.Slide.finished ( self )

Definition at line 263 of file ex_achd_table_slide.py.

References phase, and steps.

Referenced by done().

◆ measure()

None ex_achd_table_slide.Slide.measure ( self )

Advances the phase after a step and samples the checks.

Definition at line 243 of file ex_achd_table_slide.py.

References ex_achd_table_slide.contact_normal_force(), contact_steps, elbow_height(), elbow_min, env, mj_kdl::ResetContext.env, phase, reaction_count, reaction_sum, ex_achd_table_slide.site_sink_speed(), steps, table_geom, target, tcp_site, mj_kdl::Robot.tcp_site, mj_kdl::ToolFrameSpec.tcp_site, touchdown, ex_achd_table_slide.touches(), and tracked.

◆ restart()

None ex_achd_table_slide.Slide.restart ( self )

Definition at line 184 of file ex_achd_table_slide.py.

References env, and mj_kdl::ResetContext.env.

◆ tcp()

kdl.Frame ex_achd_table_slide.Slide.tcp ( self )

Definition at line 176 of file ex_achd_table_slide.py.

References ex_achd_pick_place.Achd.fk, fk, ex_achd_table_slide.jnt(), ex_achd_pick_place.Achd.robot, and robot.

Member Data Documentation

◆ achd

ex_achd_table_slide.Slide.achd = kdl.ChainHdSolver_Vereshchagin(self.chain, root_acc, 5)

Definition at line 162 of file ex_achd_table_slide.py.

Referenced by control().

◆ achd_approach

ex_achd_table_slide.Slide.achd_approach = kdl.ChainHdSolver_Vereshchagin(self.chain, root_acc, 6)

Definition at line 161 of file ex_achd_table_slide.py.

Referenced by control().

◆ alpha5

ex_achd_table_slide.Slide.alpha5 = alpha_no_linear_z()

Definition at line 167 of file ex_achd_table_slide.py.

Referenced by control().

◆ alpha6

ex_achd_table_slide.Slide.alpha6 = alpha_all()

Definition at line 166 of file ex_achd_table_slide.py.

Referenced by control().

◆ chain

ex_achd_table_slide.Slide.chain = robot.kdl_chain()

Definition at line 157 of file ex_achd_table_slide.py.

◆ contact_steps

int ex_achd_table_slide.Slide.contact_steps = 0

Definition at line 192 of file ex_achd_table_slide.py.

Referenced by measure().

◆ elbow_min

float ex_achd_table_slide.Slide.elbow_min = self.elbow_height()

Definition at line 191 of file ex_achd_table_slide.py.

Referenced by measure().

◆ env

ex_achd_table_slide.Slide.env

Definition at line 156 of file ex_achd_table_slide.py.

Referenced by control(), elbow_height(), measure(), and restart().

◆ err_prev

ex_achd_table_slide.Slide.err_prev = None

Definition at line 188 of file ex_achd_table_slide.py.

Referenced by control().

◆ f_ext

list ex_achd_table_slide.Slide.f_ext = [kdl.Wrench.Zero() for _ in range(segments)]

Definition at line 169 of file ex_achd_table_slide.py.

Referenced by control().

◆ fk

ex_achd_table_slide.Slide.fk = kdl.ChainFkSolverPos_recursive(self.chain)

Definition at line 158 of file ex_achd_table_slide.py.

Referenced by control(), and tcp().

◆ no_wrench

ex_achd_table_slide.Slide.no_wrench = [kdl.Wrench.Zero() for _ in range(segments)]

Definition at line 170 of file ex_achd_table_slide.py.

Referenced by control().

◆ phase

ex_achd_table_slide.Slide.phase = APPROACH

Definition at line 187 of file ex_achd_table_slide.py.

Referenced by control(), done(), finished(), and measure().

◆ reaction_count

int ex_achd_table_slide.Slide.reaction_count = 0

Definition at line 194 of file ex_achd_table_slide.py.

Referenced by measure().

◆ reaction_sum

float ex_achd_table_slide.Slide.reaction_sum = 0.0

Definition at line 193 of file ex_achd_table_slide.py.

Referenced by measure().

◆ rnea

ex_achd_table_slide.Slide.rnea = kdl.ChainIdSolver_RNE(self.chain, kdl.Vector(0.0, 0.0, gravity_z))

Definition at line 165 of file ex_achd_table_slide.py.

Referenced by control().

◆ robot

ex_achd_table_slide.Slide.robot = env, robot

Definition at line 156 of file ex_achd_table_slide.py.

Referenced by control(), and tcp().

◆ steps

int ex_achd_table_slide.Slide.steps = 0

Definition at line 189 of file ex_achd_table_slide.py.

Referenced by control(), done(), finished(), and measure().

◆ table_geom

ex_achd_table_slide.Slide.table_geom = env.model.geom("top").id

Definition at line 171 of file ex_achd_table_slide.py.

Referenced by measure().

◆ target

ex_achd_table_slide.Slide.target = kdl.Frame(self.tracked.M, self.tracked.p + kdl.Vector(MOVE_X, 0.0, 0.0))

Definition at line 174 of file ex_achd_table_slide.py.

Referenced by control(), and measure().

◆ tcp_site

ex_achd_table_slide.Slide.tcp_site = env.model.site(TCP_SITE).id

Definition at line 172 of file ex_achd_table_slide.py.

Referenced by measure().

◆ touchdown

ex_achd_table_slide.Slide.touchdown = math.nan

Definition at line 190 of file ex_achd_table_slide.py.

Referenced by measure().

◆ tracked

kdl.Frame ex_achd_table_slide.Slide.tracked = self.tcp()

Definition at line 186 of file ex_achd_table_slide.py.

Referenced by control(), and measure().

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

python/mj_kdl_wrapper/examples/ex_achd_table_slide.py

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ control()

◆ done()

◆ elbow_height()

◆ finished()

◆ measure()

◆ restart()

◆ tcp()

Member Data Documentation

◆ achd

◆ achd_approach

◆ alpha5

◆ alpha6

◆ chain

◆ contact_steps

◆ elbow_min

◆ env

◆ err_prev

◆ f_ext

◆ fk

◆ no_wrench

◆ phase

◆ reaction_count

◆ reaction_sum

◆ rnea

◆ robot

◆ steps

◆ table_geom

◆ target

◆ tcp_site

◆ touchdown

◆ tracked

◆ init()