mj_kdl_wrapper._mj_kdl_wrapper.Robot Class Reference

Public Member Functions
int	n_joints (self)
list[str]	joint_names (self)
list[tuple[float, float]]	joint_limits (self)
npt.NDArray[np.float64]	jnt_pos_msr (self)
None	jnt_pos_msr (self, _JointValues values)
npt.NDArray[np.float64]	jnt_vel_msr (self)
None	jnt_vel_msr (self, _JointValues values)
npt.NDArray[np.float64]	jnt_trq_msr (self)
None	jnt_trq_msr (self, _JointValues values)
npt.NDArray[np.float64]	jnt_pos_cmd (self)
None	jnt_pos_cmd (self, _JointValues values)
npt.NDArray[np.float64]	jnt_vel_cmd (self)
None	jnt_vel_cmd (self, _JointValues values)
npt.NDArray[np.float64]	jnt_trq_cmd (self)
None	jnt_trq_cmd (self, _JointValues values)
npt.NDArray[np.bool_]	jnt_saturated (self)
None	set_control_mode (self, CtrlMode mode)
None	set_joint_pos (self, Union[_JointValues, kdl.JntArray] q)
kdl.Chain	kdl_chain (self)
list[str]	ft_sensor_names (self)
kdl.Wrench	ft_sensor (self, str name)
bool	has_tcp_frame (self)
str	tcp_site (self)
kdl.Frame	tip_T_tcp (self)
npt.NDArray[np.float64]	joint_force_limits (self, float fallback=1e6)

Detailed Description

Robot registered with an Env (Env.create_robot) and backed by a wrapper-built KDL chain.
Env.update() reads and commands it; Env.close() closes it.

Definition at line 201 of file _mj_kdl_wrapper.pyi.

Member Function Documentation

ft_sensor()

kdl.Wrench mj_kdl_wrapper._mj_kdl_wrapper.Robot.ft_sensor	(		self,
		str	name )

Return the latest measured force-torque sensor value as a PyKDL.Wrench.

Definition at line 247 of file _mj_kdl_wrapper.pyi.

ft_sensor_names()

list[str] mj_kdl_wrapper._mj_kdl_wrapper.Robot.ft_sensor_names

(

self

)

Definition at line 246 of file _mj_kdl_wrapper.pyi.

has_tcp_frame()

bool mj_kdl_wrapper._mj_kdl_wrapper.Robot.has_tcp_frame

(

self

)

Definition at line 250 of file _mj_kdl_wrapper.pyi.

jnt_pos_cmd() [1/2]

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_pos_cmd

(

self

)

Definition at line 226 of file _mj_kdl_wrapper.pyi.

jnt_pos_cmd() [2/2]

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_pos_cmd	(		self,
		_JointValues	values )

Definition at line 228 of file _mj_kdl_wrapper.pyi.

jnt_pos_msr() [1/2]

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_pos_msr

(

self

)

Definition at line 214 of file _mj_kdl_wrapper.pyi.

jnt_pos_msr() [2/2]

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_pos_msr	(		self,
		_JointValues	values )

Definition at line 216 of file _mj_kdl_wrapper.pyi.

jnt_saturated()

npt.NDArray[np.bool_] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_saturated

(

self

)

Definition at line 238 of file _mj_kdl_wrapper.pyi.

jnt_trq_cmd() [1/2]

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_trq_cmd

(

self

)

Definition at line 234 of file _mj_kdl_wrapper.pyi.

jnt_trq_cmd() [2/2]

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_trq_cmd	(		self,
		_JointValues	values )

Definition at line 236 of file _mj_kdl_wrapper.pyi.

jnt_trq_msr() [1/2]

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_trq_msr

(

self

)

Definition at line 222 of file _mj_kdl_wrapper.pyi.

jnt_trq_msr() [2/2]

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_trq_msr	(		self,
		_JointValues	values )

Definition at line 224 of file _mj_kdl_wrapper.pyi.

jnt_vel_cmd() [1/2]

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_vel_cmd

(

self

)

Definition at line 230 of file _mj_kdl_wrapper.pyi.

jnt_vel_cmd() [2/2]

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_vel_cmd	(		self,
		_JointValues	values )

Definition at line 232 of file _mj_kdl_wrapper.pyi.

jnt_vel_msr() [1/2]

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_vel_msr

(

self

)

Definition at line 218 of file _mj_kdl_wrapper.pyi.

jnt_vel_msr() [2/2]

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_vel_msr	(		self,
		_JointValues	values )

Definition at line 220 of file _mj_kdl_wrapper.pyi.

joint_force_limits()

npt.NDArray[np.float64] mj_kdl_wrapper._mj_kdl_wrapper.Robot.joint_force_limits	(		self,
		float	fallback = 1e6 )

Per-joint force/torque limit of the active mode's actuators; fallback where
unlimited.

Definition at line 255 of file _mj_kdl_wrapper.pyi.

joint_limits()

list[tuple[float, float]] mj_kdl_wrapper._mj_kdl_wrapper.Robot.joint_limits

(

self

)

Definition at line 211 of file _mj_kdl_wrapper.pyi.

joint_names()

list[str] mj_kdl_wrapper._mj_kdl_wrapper.Robot.joint_names

(

self

)

Definition at line 209 of file _mj_kdl_wrapper.pyi.

kdl_chain()

kdl.Chain mj_kdl_wrapper._mj_kdl_wrapper.Robot.kdl_chain

(

self

)

The robot's own chain as a PyKDL.Chain, valid while the robot lives.

Definition at line 243 of file _mj_kdl_wrapper.pyi.

n_joints()

int mj_kdl_wrapper._mj_kdl_wrapper.Robot.n_joints

(

self

)

Definition at line 207 of file _mj_kdl_wrapper.pyi.

set_control_mode()

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.set_control_mode	(		self,
		CtrlMode	mode )

Switch mode without a jump: seeds the new mode's commands from the current state.

Definition at line 239 of file _mj_kdl_wrapper.pyi.

set_joint_pos()

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.set_joint_pos	(		self,
		Union[_JointValues, kdl.JntArray]	q )

Write MuJoCo joint positions; frames read afterwards follow them.

Definition at line 241 of file _mj_kdl_wrapper.pyi.

tcp_site()

str mj_kdl_wrapper._mj_kdl_wrapper.Robot.tcp_site

(

self

)

Definition at line 252 of file _mj_kdl_wrapper.pyi.

tip_T_tcp()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Robot.tip_T_tcp

(

self

)

Definition at line 254 of file _mj_kdl_wrapper.pyi.

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

• python/mj_kdl_wrapper/_mj_kdl_wrapper.pyi