ex_impedance.py File Reference

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Namespaces
namespace	ex_impedance

Functions
mjk.AttachmentSpec	ex_impedance.attachment_gripper (str path)
tuple[mjk.Env, mjk.Robot]	ex_impedance.build_env (str model_path, str gripper_path)
None	ex_impedance.apply_pd_gravity (mjk.Robot robot, list[float] target)
None	ex_impedance.run_loop (mjk.Env env, mjk.Robot robot, step_fn, *, float duration, bool gui)
int	ex_impedance.main ()

Variables
list	ex_impedance.HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
list	ex_impedance.KP = [100, 200, 100, 200, 100, 200, 100]
list	ex_impedance.KD = [10, 20, 10, 20, 10, 20, 10]