ex_rnea_pick_place.py File Reference

Go to the source code of this file.

Classes
class	ex_rnea_pick_place.ResetRequested
class	ex_rnea_pick_place.Phase

Namespaces
namespace	ex_rnea_pick_place

Functions
kdl.Frame	ex_rnea_pick_place.world_T_base (int arm)
kdl.Vector	ex_rnea_pick_place.cube_spot (int arm, xy)
mjk.SceneObject	ex_rnea_pick_place.cube_object (str name, kdl.Vector spot)
mjk.SceneObject	ex_rnea_pick_place.free_object (name, shape, x, y, half, rgb)
mjk.CameraSpec	ex_rnea_pick_place.camera (name, pos, quat, fovy)
tuple[mjk.Env, list[mjk.Robot]]	ex_rnea_pick_place.build_env ()
kdl.JntArray	ex_rnea_pick_place.jnt (values)
list[float]	ex_rnea_pick_place.gravity (kdl.ChainDynParam dyn, q_values)
list[float]	ex_rnea_pick_place.solve_near_seed (chain, limits, list[float] seed, kdl.Frame target)
list[Phase]	ex_rnea_pick_place.pick_place_phases (mjk.Robot robot)
list[float]	ex_rnea_pick_place.rnea_torque (robot, rnea, n_segments, q_des)
None	ex_rnea_pick_place.measure (env, dict state)
bool	ex_rnea_pick_place.run_phase (env, robots, fingers, solvers, Phase phase, dict state)
dict	ex_rnea_pick_place.new_metrics ()
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]
float	ex_rnea_pick_place.SURFACE_Z = 0.70
float	ex_rnea_pick_place.CUBE_HS = 0.02
tuple	ex_rnea_pick_place.PICK = (0.40, 0.00)
tuple	ex_rnea_pick_place.PLACE = (0.40, 0.24)
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.GRIPPER_CLOSED = 0.82
float	ex_rnea_pick_place.MAX_PLACE_ERR = 0.005
float	ex_rnea_pick_place.MIN_ELBOW_HEIGHT = 0.45
float	ex_rnea_pick_place.MAX_DISTURB = 0.001
list	ex_rnea_pick_place.BASES = [(-0.70, -0.12, 0.0), (0.70, 0.12, math.pi)]
list	ex_rnea_pick_place.PREFIXES = ["", "r2_"]
list	ex_rnea_pick_place.FREE_OBJECTS
list	ex_rnea_pick_place.CAMERAS