ex_table_pour.py File Reference

Go to the source code of this file.

Classes
class	ex_table_pour.Phase
class	ex_table_pour.ResetRequested

Namespaces
namespace	ex_table_pour

Functions
mjk.AttachmentSpec	ex_table_pour.gripper_attachment (str gripper_path)
mjk.AttachmentSpec	ex_table_pour.bottle_attachment (str bottle_path)
mjk.SceneObject	ex_table_pour.table_object (str table_path)
mjk.SceneObject	ex_table_pour.receiver_object (str receiver_path)
mjk.SceneObject	ex_table_pour.ball_object (int index)
tuple[mjk.Env, mjk.Robot]	ex_table_pour.build_env ()
kdl.JntArray	ex_table_pour.jnt (list[float] values)
list[float]	ex_table_pour.as_list (kdl.JntArray q)
float	ex_table_pour.clamp (float value, float low, float high)
float	ex_table_pour.clamp_joint (float value, tuple[float, float] limit)
tuple[kdl.JntArray, kdl.JntArray]	ex_table_pour.joint_limit_arrays (mjk.Robot robot)
dict[str, list[float]]	ex_table_pour.build_waypoints (mjk.Env env, mjk.Robot robot)
None	ex_table_pour.apply_pd_gravity (mjk.Robot robot, list[float] target)
float	ex_table_pour.max_abs_joint_err (mjk.Robot robot, list[float] target)
list[float]	ex_table_pour.lerp (list[float] start, list[float] target, float alpha)
None	ex_table_pour.place_balls_in_bottle (mjk.Env env, mjk.Robot robot)
tuple[int, list[float]]	ex_table_pour.balls_in_receiver (mjk.Env env)
bool	ex_table_pour.step_once (mjk.Robot robot, mjk.SimulateViewer|None viewer)
bool	ex_table_pour.run_phase (mjk.Env env, mjk.Robot robot, Phase phase, mjk.SimulateViewer|None viewer, mjk.VideoRecorder|None recorder, int record_every, list[int] step_counter, dict state)
int	ex_table_pour.main ()

Variables
list	ex_table_pour.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	ex_table_pour.TABLE_Z = 0.70
float	ex_table_pour.ROBOT_BACK_X = -0.26
float	ex_table_pour.JUG_X = 0.30
float	ex_table_pour.JUG_Y = 0.14
float	ex_table_pour.RETREAT_X = JUG_X - 0.08
float	ex_table_pour.RETREAT_Y = JUG_Y - 0.08
float	ex_table_pour.BALL_RADIUS = 0.007
int	ex_table_pour.NUM_BALLS = 36
float	ex_table_pour.POUR_TILT_RAD = 1.95
int	ex_table_pour.IK_TOL = 3e-3
list	ex_table_pour.KP = [120.0, 220.0, 120.0, 220.0, 110.0, 190.0, 90.0]
list	ex_table_pour.KD = [12.0, 22.0, 12.0, 22.0, 11.0, 18.0, 9.0]