ex_achd_pick_place.py File Reference

Go to the source code of this file.

Classes
class	ex_achd_pick_place.ResetRequested
class	ex_achd_pick_place.Achd

Namespaces
namespace	ex_achd_pick_place

Functions
tuple[mjk.Env, mjk.Robot]	ex_achd_pick_place.build_env ()
kdl.JntArray	ex_achd_pick_place.jnt (values)
float	ex_achd_pick_place.clamp_abs (float value, float limit)
float	ex_achd_pick_place.smoothstep (float value)
bool	ex_achd_pick_place.run_phase (env, Achd ctrl, fingers, dict phase, dict state)
list[dict]	ex_achd_pick_place.build_phases (mjk.Robot robot, kdl.Frame home_tcp)
int	ex_achd_pick_place.main ()

Variables
list	ex_achd_pick_place.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	ex_achd_pick_place.SURFACE_Z = 0.70
float	ex_achd_pick_place.CUBE_HS = 0.02
tuple	ex_achd_pick_place.PICK = (0.40, 0.00)
tuple	ex_achd_pick_place.PLACE = (0.40, 0.24)
list	ex_achd_pick_place.CUBE_START = [PICK[0], PICK[1], SURFACE_Z + CUBE_HS]
float	ex_achd_pick_place.GRIPPER_CLOSED = 0.82
float	ex_achd_pick_place.MAX_PLACE_ERR = 0.005
float	ex_achd_pick_place.MAX_ELBOW_DROP = 0.10
	ex_achd_pick_place.KP_LIN
	ex_achd_pick_place.KI_LIN
	ex_achd_pick_place.KD_LIN
	ex_achd_pick_place.KP_ROT
	ex_achd_pick_place.KI_ROT
	ex_achd_pick_place.KD_ROT
	ex_achd_pick_place.BETA_LIN_MAX
	ex_achd_pick_place.BETA_ROT_MAX
float	ex_achd_pick_place.INTEGRAL_MAX = 0.5
str	ex_achd_pick_place.SUPPORT_LINK = "half_arm_2_link"
	ex_achd_pick_place.SUPPORT_KP
	ex_achd_pick_place.SUPPORT_KD
	ex_achd_pick_place.SUPPORT_F_MAX
	ex_achd_pick_place.SUPPORT_LIFT