ex_achd_pick_place.py File Reference

Go to the source code of this file.

Classes
class	ex_achd_pick_place.ResetRequested

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 (list[float] values)
float	ex_achd_pick_place.clamp_abs (float value, float limit)
float	ex_achd_pick_place.smoothstep (float value)
kdl.Jacobian	ex_achd_pick_place.alpha_identity ()
None	ex_achd_pick_place.achd_step (robot, chain, fk, achd, rnea, alpha, target, err_prev, first_pid)
bool	ex_achd_pick_place.step_once (env, robot, viewer, state)
bool	ex_achd_pick_place.run_phase (env, robot, chain, fk, achd, rnea, alpha, phase, viewer, state)
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
	ex_achd_pick_place.KP_LIN
	ex_achd_pick_place.KD_LIN
	ex_achd_pick_place.KP_ROT
	ex_achd_pick_place.KD_ROT
	ex_achd_pick_place.BETA_LIN_MAX
	ex_achd_pick_place.BETA_ROT_MAX
	ex_achd_pick_place.TAU_MAX
list	ex_achd_pick_place.CUBE_START = [0.40, 0.0, SURFACE_Z + 0.02]