ex_achd_pick_place Namespace Reference

Classes
class	ResetRequested
class	Achd

Functions
tuple[mjk.Env, mjk.Robot]	build_env ()
kdl.JntArray	jnt (values)
float	clamp_abs (float value, float limit)
float	smoothstep (float value)
bool	run_phase (env, Achd ctrl, fingers, dict phase, dict state)
list[dict]	build_phases (mjk.Robot robot, kdl.Frame home_tcp)
int	main ()

Variables
list	HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	SURFACE_Z = 0.70
float	CUBE_HS = 0.02
tuple	PICK = (0.40, 0.00)
tuple	PLACE = (0.40, 0.24)
list	CUBE_START = [PICK[0], PICK[1], SURFACE_Z + CUBE_HS]
float	GRIPPER_CLOSED = 0.82
float	MAX_PLACE_ERR = 0.005
float	MAX_ELBOW_DROP = 0.10
	KP_LIN
	KI_LIN
	KD_LIN
	KP_ROT
	KI_ROT
	KD_ROT
	BETA_LIN_MAX
	BETA_ROT_MAX
float	INTEGRAL_MAX = 0.5
str	SUPPORT_LINK = "half_arm_2_link"
	SUPPORT_KP
	SUPPORT_KD
	SUPPORT_F_MAX
	SUPPORT_LIFT

Detailed Description

Table pick-place with ACHD + RNEA; Python counterpart of src/examples/ex_achd_pick_place.cpp.

Function Documentation

build_env()

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

(

)

Definition at line 38 of file ex_achd_pick_place.py.

Referenced by main().

build_phases()

list[dict] ex_achd_pick_place.build_phases	(	mjk.Robot	robot,
		kdl.Frame	home_tcp )

Definition at line 208 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 82 of file ex_achd_pick_place.py.

Referenced by ex_achd_pick_place.Achd.control().

jnt()

kdl.JntArray ex_achd_pick_place.jnt

(

values

)

Definition at line 75 of file ex_achd_pick_place.py.

Referenced by main().

main()

int ex_achd_pick_place.main

(

)

Definition at line 243 of file ex_achd_pick_place.py.

References build_env(), build_phases(), jnt(), main(), and run_phase().

Referenced by main().

run_phase()

bool ex_achd_pick_place.run_phase	(		env,
		Achd	ctrl,
			fingers,
		dict	phase,
		dict	state )

One update() per step: it reads the state and applies the previous cycle's command.

Definition at line 164 of file ex_achd_pick_place.py.

References smoothstep().

Referenced by main().

smoothstep()

float ex_achd_pick_place.smoothstep

(

float

value

)

Definition at line 86 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 26 of file ex_achd_pick_place.py.

BETA_ROT_MAX

ex_achd_pick_place.BETA_ROT_MAX

Definition at line 26 of file ex_achd_pick_place.py.

CUBE_HS

float ex_achd_pick_place.CUBE_HS = 0.02

Definition at line 15 of file ex_achd_pick_place.py.

CUBE_START

list ex_achd_pick_place.CUBE_START = [PICK[0], PICK[1], SURFACE_Z + CUBE_HS]

Definition at line 18 of file ex_achd_pick_place.py.

GRIPPER_CLOSED

float ex_achd_pick_place.GRIPPER_CLOSED = 0.82

Definition at line 19 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 13 of file ex_achd_pick_place.py.

INTEGRAL_MAX

float ex_achd_pick_place.INTEGRAL_MAX = 0.5

Definition at line 27 of file ex_achd_pick_place.py.

KD_LIN

ex_achd_pick_place.KD_LIN

Definition at line 24 of file ex_achd_pick_place.py.

KD_ROT

ex_achd_pick_place.KD_ROT

Definition at line 25 of file ex_achd_pick_place.py.

KI_LIN

ex_achd_pick_place.KI_LIN

Definition at line 24 of file ex_achd_pick_place.py.

KI_ROT

ex_achd_pick_place.KI_ROT

Definition at line 25 of file ex_achd_pick_place.py.

KP_LIN

ex_achd_pick_place.KP_LIN

Definition at line 24 of file ex_achd_pick_place.py.

KP_ROT

ex_achd_pick_place.KP_ROT

Definition at line 25 of file ex_achd_pick_place.py.

MAX_ELBOW_DROP

float ex_achd_pick_place.MAX_ELBOW_DROP = 0.10

Definition at line 21 of file ex_achd_pick_place.py.

MAX_PLACE_ERR

float ex_achd_pick_place.MAX_PLACE_ERR = 0.005

Definition at line 20 of file ex_achd_pick_place.py.

PICK

tuple ex_achd_pick_place.PICK = (0.40, 0.00)

Definition at line 16 of file ex_achd_pick_place.py.

PLACE

tuple ex_achd_pick_place.PLACE = (0.40, 0.24)

Definition at line 17 of file ex_achd_pick_place.py.

SUPPORT_F_MAX

ex_achd_pick_place.SUPPORT_F_MAX

Definition at line 31 of file ex_achd_pick_place.py.

SUPPORT_KD

ex_achd_pick_place.SUPPORT_KD

Definition at line 31 of file ex_achd_pick_place.py.

SUPPORT_KP

ex_achd_pick_place.SUPPORT_KP

Definition at line 31 of file ex_achd_pick_place.py.

SUPPORT_LIFT

ex_achd_pick_place.SUPPORT_LIFT

Definition at line 31 of file ex_achd_pick_place.py.

SUPPORT_LINK

str ex_achd_pick_place.SUPPORT_LINK = "half_arm_2_link"

Definition at line 30 of file ex_achd_pick_place.py.

SURFACE_Z

float ex_achd_pick_place.SURFACE_Z = 0.70

Definition at line 14 of file ex_achd_pick_place.py.