ex_achd_pick_place Namespace Reference

Classes
class	ResetRequested

Functions
tuple[mjk.Env, mjk.Robot]	build_env ()
kdl.JntArray	jnt (list[float] values)
float	clamp_abs (float value, float limit)
float	smoothstep (float value)
kdl.Jacobian	alpha_identity ()
None	achd_step (robot, chain, fk, achd, rnea, alpha, target, err_prev, first_pid)
bool	step_once (env, robot, viewer, state)
bool	run_phase (env, robot, chain, fk, achd, rnea, alpha, phase, viewer, state)
int	main ()

Variables
list	HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	SURFACE_Z = 0.70
	KP_LIN
	KD_LIN
	KP_ROT
	KD_ROT
	BETA_LIN_MAX
	BETA_ROT_MAX
	TAU_MAX
list	CUBE_START = [0.40, 0.0, SURFACE_Z + 0.02]

Detailed Description

ACHD Cartesian pick-place example using PyKDL directly.

Ported from src/examples/ex_achd_pick_place.cpp. Uses the Vereshchagin
acceleration-constrained hybrid-dynamics solver plus RNEA for computed torques.
An Env on_reset hook re-homes the arm, re-poses the cube, and opens the gripper.

Function Documentation

achd_step()

None ex_achd_pick_place.achd_step	(		robot,
			chain,
			fk,
			achd,
			rnea,
			alpha,
			target,
			err_prev,
			first_pid )

Definition at line 92 of file ex_achd_pick_place.py.

References clamp_abs(), and jnt().

Referenced by run_phase().

alpha_identity()

kdl.Jacobian ex_achd_pick_place.alpha_identity

(

)

Definition at line 85 of file ex_achd_pick_place.py.

Referenced by main().

build_env()

tuple[mjk.Env, mjk.Robot] ex_achd_pick_place.build_env

(

)

Definition at line 28 of file ex_achd_pick_place.py.

Referenced by main().

clamp_abs()

float ex_achd_pick_place.clamp_abs	(	float	value,
		float	limit )

Definition at line 76 of file ex_achd_pick_place.py.

Referenced by achd_step().

jnt()

kdl.JntArray ex_achd_pick_place.jnt

(

list[float]

values

)

Definition at line 69 of file ex_achd_pick_place.py.

Referenced by achd_step().

main()

int ex_achd_pick_place.main

(

)

Definition at line 161 of file ex_achd_pick_place.py.

References alpha_identity(), build_env(), main(), and run_phase().

Referenced by main().

run_phase()

bool ex_achd_pick_place.run_phase	(		env,
			robot,
			chain,
			fk,
			achd,
			rnea,
			alpha,
			phase,
			viewer,
			state )

Definition at line 142 of file ex_achd_pick_place.py.

References achd_step(), smoothstep(), and step_once().

Referenced by main().

smoothstep()

float ex_achd_pick_place.smoothstep

(

float

value

)

Definition at line 80 of file ex_achd_pick_place.py.

Referenced by run_phase().

step_once()

bool ex_achd_pick_place.step_once	(		env,
			robot,
			viewer,
			state )

Definition at line 130 of file ex_achd_pick_place.py.

Referenced by run_phase().

Variable Documentation

BETA_LIN_MAX

ex_achd_pick_place.BETA_LIN_MAX

Definition at line 20 of file ex_achd_pick_place.py.

BETA_ROT_MAX

ex_achd_pick_place.BETA_ROT_MAX

Definition at line 20 of file ex_achd_pick_place.py.

CUBE_START

list ex_achd_pick_place.CUBE_START = [0.40, 0.0, SURFACE_Z + 0.02]

Definition at line 21 of file ex_achd_pick_place.py.

HOME

list ex_achd_pick_place.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]

Definition at line 16 of file ex_achd_pick_place.py.

KD_LIN

ex_achd_pick_place.KD_LIN

Definition at line 18 of file ex_achd_pick_place.py.

KD_ROT

ex_achd_pick_place.KD_ROT

Definition at line 19 of file ex_achd_pick_place.py.

KP_LIN

ex_achd_pick_place.KP_LIN

Definition at line 18 of file ex_achd_pick_place.py.

KP_ROT

ex_achd_pick_place.KP_ROT

Definition at line 19 of file ex_achd_pick_place.py.

SURFACE_Z

float ex_achd_pick_place.SURFACE_Z = 0.70

Definition at line 17 of file ex_achd_pick_place.py.

TAU_MAX

ex_achd_pick_place.TAU_MAX

Definition at line 20 of file ex_achd_pick_place.py.