ex_rnea_pick_place.py File Reference

Go to the source code of this file.

Classes
class	ex_rnea_pick_place.ResetRequested

Namespaces
namespace	ex_rnea_pick_place

Functions
tuple[mjk.Env, mjk.Robot]	ex_rnea_pick_place.build_env ()
kdl.JntArray	ex_rnea_pick_place.jnt (list[float] values)
list[float]	ex_rnea_pick_place.as_list (kdl.JntArray q)
list[float]	ex_rnea_pick_place.solve_position_ik (kdl.Chain chain, list[float] seed_values, kdl.Vector target)
dict[str, list[float]]	ex_rnea_pick_place.waypoints (kdl.Chain chain)
None	ex_rnea_pick_place.rnea_controller (robot, solver, chain, list[float] target)
bool	ex_rnea_pick_place.step_once (env, robot, viewer, state)
bool	ex_rnea_pick_place.run_phase (env, robot, solver, chain, phase, viewer, state)
int	ex_rnea_pick_place.main ()

Variables
list	ex_rnea_pick_place.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
list	ex_rnea_pick_place.KP = [100.0, 200.0, 100.0, 200.0, 100.0, 200.0, 100.0]
list	ex_rnea_pick_place.KD = [20.0, 28.0, 20.0, 28.0, 20.0, 28.0, 20.0]
float	ex_rnea_pick_place.SURFACE_Z = 0.70
list	ex_rnea_pick_place.CUBE_START = [0.40, 0.0, SURFACE_Z + 0.02]