|
| tuple[mjk.Env, mjk.Robot] | ex_table_pick_place.build_env () |
| kdl.JntArray | ex_table_pick_place.jnt (values) |
| list[float] | ex_table_pick_place.gravity (kdl.ChainDynParam dyn, q_values) |
| list[float] | ex_table_pick_place.solve_near_seed (chain, limits, list[float] seed, kdl.Frame target) |
| list[Phase] | ex_table_pick_place.pick_place_phases (mjk.Robot robot) |
| dict | ex_table_pick_place.new_metrics () |
| float | ex_table_pick_place.push_scale (float t_rel) |
| None | ex_table_pick_place.measure_push (env, robot, dict state, q_ref, cube, float t_rel, force) |
| bool | ex_table_pick_place.run_phase (env, robot, fingers, dyn, Phase phase, dict state) |
| int | ex_table_pick_place.main () |
|
| list | ex_table_pick_place.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708] |
| float | ex_table_pick_place.SURFACE_Z = 0.70 |
| float | ex_table_pick_place.CUBE_HS = 0.02 |
| tuple | ex_table_pick_place.PICK = (0.40, 0.00) |
| tuple | ex_table_pick_place.PLACE = (0.40, 0.24) |
| list | ex_table_pick_place.KP = [100.0, 200.0, 100.0, 200.0, 100.0, 200.0, 100.0] |
| list | ex_table_pick_place.KD = [10.0, 20.0, 10.0, 20.0, 10.0, 20.0, 10.0] |
| float | ex_table_pick_place.GRIPPER_CLOSED = 0.82 |
| list | ex_table_pick_place.CUBE_START = [PICK[0], PICK[1], SURFACE_Z + CUBE_HS] |
| float | ex_table_pick_place.MAX_PLACE_ERR = 0.005 |
| str | ex_table_pick_place.PUSH_BODY = "bracelet_link" |
| str | ex_table_pick_place.PUSH_PHASE = "PLACE_ABOVE" |
| float | ex_table_pick_place.PUSH_FORCE = 20.0 |
| | ex_table_pick_place.PUSH_DIR = kdl.Vector(1.0, 0.0, 0.0) |
| | ex_table_pick_place.PUSH_ON |
| | ex_table_pick_place.PUSH_OFF |
| | ex_table_pick_place.PUSH_RAMP |
| float | ex_table_pick_place.SETTLE = 0.5 |
| float | ex_table_pick_place.MIN_DEFLECTION = 0.010 |
| tuple | ex_table_pick_place.DEFLECTION_RATIO = (0.85, 1.15) |
| float | ex_table_pick_place.MAX_RESIDUAL = 0.004 |
| float | ex_table_pick_place.MAX_CUBE_SLIP = 0.010 |
| float | ex_table_pick_place.MIN_ELBOW_HEIGHT = 0.45 |
1.16.1