ex_admittance_ft.py File Reference

Go to the source code of this file.

Namespaces
namespace	ex_admittance_ft

Functions
kdl.JntArray	ex_admittance_ft.jnt (list[float] values)
float	ex_admittance_ft.clamp (float value, float low, float high)
list[float]	ex_admittance_ft.vadd (list[float] a, list[float] b)
list[float]	ex_admittance_ft.vscale (list[float] a, float s)
list[float]	ex_admittance_ft.vclamp (list[float] a, float limit)
float	ex_admittance_ft.vnorm (list[float] a)
list[float]	ex_admittance_ft.xyz (kdl.Vector v)
list[float]	ex_admittance_ft.frame_point (kdl.Frame frame, kdl.Vector point)
mjk.AttachmentSpec	ex_admittance_ft.ft_attachment ()
mjk.AttachmentSpec	ex_admittance_ft.gripper_attachment ()
mjk.SceneObject	ex_admittance_ft.table_object ()
tuple[mjk.Env, mjk.Robot]	ex_admittance_ft.build_env ()
list[float]	ex_admittance_ft.ik_step (kdl.ChainIkSolverVel_wdls ik, kdl.ChainFkSolverPos_recursive fk, list[float] q_seed, kdl.Frame target, list[tuple[float, float]] limits)
None	ex_admittance_ft.hold (mjk.Robot robot, list[float] q)
None	ex_admittance_ft.close_gripper (mjk.Env env)
list[float]	ex_admittance_ft.settle_and_tare (mjk.Env env, mjk.Robot robot)
list[float]	ex_admittance_ft.measured_force (mjk.Robot robot, dict state)
list[float]	ex_admittance_ft.tare_force (mjk.Robot robot)
None	ex_admittance_ft.admittance_update (dict state, list[float] force, float dt)
list[float]	ex_admittance_ft.spiral_force (float t)
	ex_admittance_ft.admittance_step (env, robot, nominal, state, force)
None	ex_admittance_ft.run_gui (mjk.Env env, mjk.Robot robot, kdl.Frame nominal, dict state)
dict	ex_admittance_ft.run_selfcheck (mjk.Env env, mjk.Robot robot, kdl.Frame nominal, dict state)
int	ex_admittance_ft.main ()

Variables
list	ex_admittance_ft.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	ex_admittance_ft.TABLE_Z = 0.70
	ex_admittance_ft.M_ADM
	ex_admittance_ft.D_ADM
	ex_admittance_ft.K_ADM
float	ex_admittance_ft.FORCE_DEADBAND = 2.5
float	ex_admittance_ft.MAX_OFFSET = 0.20
float	ex_admittance_ft.MAX_VEL = 0.25
str	ex_admittance_ft.TOOL_BODY = "g_base"
str	ex_admittance_ft.GRIPPER_ACTUATOR = "g_fingers_actuator"
int	ex_admittance_ft.SETTLE_STEPS = 300
float	ex_admittance_ft.HANDOFF_TARE_TIME = 1.0
tuple	ex_admittance_ft.SELFCHECK_PUSH = (8.0, 12.0, 6.0)
float	ex_admittance_ft.TEACH_TIME = 16.0
float	ex_admittance_ft.TEACH_RADIUS = 0.04
float	ex_admittance_ft.TEACH_RISE = 0.10
float	ex_admittance_ft.TEACH_TURNS = 5.0