ex_achd_table_slide.py File Reference

Go to the source code of this file.

Classes
class	ex_achd_table_slide.Slide

Namespaces
namespace	ex_achd_table_slide

Functions
tuple[mjk.Env, mjk.Robot]	ex_achd_table_slide.build_env ()
kdl.JntArray	ex_achd_table_slide.jnt (values)
list[float]	ex_achd_table_slide.solve_near_seed (chain, limits, list[float] seed, kdl.Frame target)
float	ex_achd_table_slide.clamp_abs (float value, float limit)
float	ex_achd_table_slide.contact_normal_force (mujoco.MjModel model, mujoco.MjData data, int geom)
bool	ex_achd_table_slide.touches (mujoco.MjData data, int geom)
float	ex_achd_table_slide.site_sink_speed (mujoco.MjModel model, mujoco.MjData data, int site)
kdl.Jacobian	ex_achd_table_slide.alpha_all ()
kdl.Jacobian	ex_achd_table_slide.alpha_no_linear_z ()
int	ex_achd_table_slide.main ()

Variables
list	ex_achd_table_slide.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
tuple	ex_achd_table_slide.START_TCP = (0.40, 0.0, 0.12)
float	ex_achd_table_slide.TABLE_Z = 0.447
float	ex_achd_table_slide.MOVE_X = 0.20
float	ex_achd_table_slide.V_MAX_LIN = 0.08
float	ex_achd_table_slide.V_TOUCH = 0.02
float	ex_achd_table_slide.DESCENT_GAIN = 0.5
	ex_achd_table_slide.KPLIN
	ex_achd_table_slide.KDLIN
	ex_achd_table_slide.KPROT
	ex_achd_table_slide.KDROT
float	ex_achd_table_slide.BETA_MAX = 120.0
float	ex_achd_table_slide.PRESS_FORCE = 10.0
int	ex_achd_table_slide.APPROACH_STEPS = 7500
int	ex_achd_table_slide.PRESS_STEPS = 250
int	ex_achd_table_slide.SLIDE_STEPS = 2000
float	ex_achd_table_slide.CONTACT_HELD = 0.6
float	ex_achd_table_slide.MAX_TOUCHDOWN = 0.05
float	ex_achd_table_slide.MIN_ELBOW_HEIGHT = 0.30
str	ex_achd_table_slide.ELBOW_BODY = "forearm_link"
str	ex_achd_table_slide.TCP_SITE = "pinch_site"
	ex_achd_table_slide.APPROACH
	ex_achd_table_slide.PRESS
	ex_achd_table_slide.SLIDE