ex_pick.py File Reference

Go to the source code of this file.

Classes
class	ex_pick.ResetRequested
class	ex_pick.Phase

Namespaces
namespace	ex_pick

Functions
mjk.AttachmentSpec	ex_pick.gripper_attachment (str gripper_path)
mjk.SceneObject	ex_pick.cube_object ()
tuple[mjk.Env, mjk.Robot]	ex_pick.build_env ()
kdl.JntArray	ex_pick.jnt (list[float] values)
list[float]	ex_pick.as_list (kdl.JntArray q)
float	ex_pick.clamp (float value, float low, float high)
float	ex_pick.clamp_joint (float value, tuple[float, float] limit)
list[float]	ex_pick.solve_position_ik (kdl.Chain chain, list[float] seed_values, kdl.Frame target, list[tuple[float, float]] joint_limits)
dict[str, list[float]]	ex_pick.build_waypoints (mjk.Env env, mjk.Robot robot)
None	ex_pick.apply_pd_gravity (mjk.Robot robot, list[float] target)
float	ex_pick.max_abs_joint_err (mjk.Robot robot, list[float] target)
list[float]	ex_pick.lerp (list[float] start, list[float] target, float alpha)
bool	ex_pick.step_once (mjk.Env env, mjk.Robot robot, mjk.SimulateViewer|None viewer, dict state)
bool	ex_pick.run_phase (mjk.Env env, mjk.Robot robot, Phase phase, mjk.SimulateViewer|None viewer, dict state)
int	ex_pick.main ()

Variables
list	ex_pick.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	ex_pick.CUBE_X = 0.40
float	ex_pick.CUBE_Y = 0.00
float	ex_pick.CUBE_HALF_SIZE = 0.02
float	ex_pick.CUBE_Z = CUBE_HALF_SIZE
list	ex_pick.KP = [100.0, 200.0, 100.0, 200.0, 100.0, 200.0, 100.0]
list	ex_pick.KD = [10.0, 20.0, 10.0, 20.0, 10.0, 20.0, 10.0]