ex_table_pick_place.py File Reference

Go to the source code of this file.

Classes
class	ex_table_pick_place.ResetRequested
class	ex_table_pick_place.Phase

Namespaces
namespace	ex_table_pick_place

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

Variables
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_HALF_SIZE = 0.02
float	ex_table_pick_place.PICK_X = 0.40
float	ex_table_pick_place.PICK_Y = 0.00
float	ex_table_pick_place.PLACE_X = 0.40
float	ex_table_pick_place.PLACE_Y = 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]
list	ex_table_pick_place.CUBE_START = [PICK_X, PICK_Y, SURFACE_Z + CUBE_HALF_SIZE]