ex_achd_table_slide Namespace Reference

Classes
class	Slide

Functions
tuple[mjk.Env, mjk.Robot]	build_env ()
kdl.JntArray	jnt (values)
list[float]	solve_near_seed (chain, limits, list[float] seed, kdl.Frame target)
float	clamp_abs (float value, float limit)
float	contact_normal_force (mujoco.MjModel model, mujoco.MjData data, int geom)
bool	touches (mujoco.MjData data, int geom)
float	site_sink_speed (mujoco.MjModel model, mujoco.MjData data, int site)
kdl.Jacobian	alpha_all ()
kdl.Jacobian	alpha_no_linear_z ()
int	main ()

Variables
list	HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
tuple	START_TCP = (0.40, 0.0, 0.12)
float	TABLE_Z = 0.447
float	MOVE_X = 0.20
float	V_MAX_LIN = 0.08
float	V_TOUCH = 0.02
float	DESCENT_GAIN = 0.5
	KPLIN
	KDLIN
	KPROT
	KDROT
float	BETA_MAX = 120.0
float	PRESS_FORCE = 10.0
int	APPROACH_STEPS = 7500
int	PRESS_STEPS = 250
int	SLIDE_STEPS = 2000
float	CONTACT_HELD = 0.6
float	MAX_TOUCHDOWN = 0.05
float	MIN_ELBOW_HEIGHT = 0.30
str	ELBOW_BODY = "forearm_link"
str	TCP_SITE = "pinch_site"
	APPROACH
	PRESS
	SLIDE

Detailed Description

ACHD table slide pressing on the table; Python counterpart of ex_achd_table_slide.cpp.

The Gen3 has no gripper: the TCP is its wrist flange (the bracelet's pinch_site). A guarded
approach (all six directions tracked) lowers it onto the table, the press ramps up, then it
slides with linear Z free. Headless, it exits 1 if the table contact was held
for less than CONTACT_HELD of the second half of the slide, the touchdown was faster than
MAX_TOUCHDOWN or the elbow went below MIN_ELBOW_HEIGHT.

Function Documentation

alpha_all()

kdl.Jacobian ex_achd_table_slide.alpha_all

(

)

Definition at line 132 of file ex_achd_table_slide.py.

alpha_no_linear_z()

kdl.Jacobian ex_achd_table_slide.alpha_no_linear_z

(

)

Definition at line 142 of file ex_achd_table_slide.py.

build_env()

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

(

)

Definition at line 45 of file ex_achd_table_slide.py.

Referenced by main().

clamp_abs()

float ex_achd_table_slide.clamp_abs	(	float	value,
		float	limit )

Definition at line 104 of file ex_achd_table_slide.py.

Referenced by ex_achd_table_slide.Slide.control().

contact_normal_force()

float ex_achd_table_slide.contact_normal_force	(	mujoco.MjModel	model,
		mujoco.MjData	data,
		int	geom )

Definition at line 109 of file ex_achd_table_slide.py.

Referenced by ex_achd_table_slide.Slide.measure().

jnt()

kdl.JntArray ex_achd_table_slide.jnt

(

values

)

Definition at line 67 of file ex_achd_table_slide.py.

Referenced by ex_achd_table_slide.Slide.control(), solve_near_seed(), and ex_achd_table_slide.Slide.tcp().

main()

int ex_achd_table_slide.main

(

)

Definition at line 267 of file ex_achd_table_slide.py.

References build_env(), main(), and solve_near_seed().

Referenced by main().

site_sink_speed()

float ex_achd_table_slide.site_sink_speed	(	mujoco.MjModel	model,
		mujoco.MjData	data,
		int	site )

Downward world-frame speed of a site.

Definition at line 125 of file ex_achd_table_slide.py.

Referenced by ex_achd_table_slide.Slide.measure().

solve_near_seed()

list[float] ex_achd_table_slide.solve_near_seed	(		chain,
			limits,
		list[float]	seed,
		kdl.Frame	target )

Damped-least-squares IK stepped from seed, so the answer stays on the seed's branch.

Definition at line 74 of file ex_achd_table_slide.py.

References jnt().

Referenced by main().

touches()

bool ex_achd_table_slide.touches	(	mujoco.MjData	data,
		int	geom )

Definition at line 121 of file ex_achd_table_slide.py.

Referenced by ex_achd_table_slide.Slide.measure().

Variable Documentation

APPROACH

ex_achd_table_slide.APPROACH

Definition at line 42 of file ex_achd_table_slide.py.

APPROACH_STEPS

int ex_achd_table_slide.APPROACH_STEPS = 7500

Definition at line 33 of file ex_achd_table_slide.py.

BETA_MAX

float ex_achd_table_slide.BETA_MAX = 120.0

Definition at line 31 of file ex_achd_table_slide.py.

CONTACT_HELD

float ex_achd_table_slide.CONTACT_HELD = 0.6

Definition at line 36 of file ex_achd_table_slide.py.

DESCENT_GAIN

float ex_achd_table_slide.DESCENT_GAIN = 0.5

Definition at line 28 of file ex_achd_table_slide.py.

ELBOW_BODY

str ex_achd_table_slide.ELBOW_BODY = "forearm_link"

Definition at line 39 of file ex_achd_table_slide.py.

HOME

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

Definition at line 21 of file ex_achd_table_slide.py.

KDLIN

ex_achd_table_slide.KDLIN

Definition at line 29 of file ex_achd_table_slide.py.

KDROT

ex_achd_table_slide.KDROT

Definition at line 30 of file ex_achd_table_slide.py.

KPLIN

ex_achd_table_slide.KPLIN

Definition at line 29 of file ex_achd_table_slide.py.

KPROT

ex_achd_table_slide.KPROT

Definition at line 30 of file ex_achd_table_slide.py.

MAX_TOUCHDOWN

float ex_achd_table_slide.MAX_TOUCHDOWN = 0.05

Definition at line 37 of file ex_achd_table_slide.py.

MIN_ELBOW_HEIGHT

float ex_achd_table_slide.MIN_ELBOW_HEIGHT = 0.30

Definition at line 38 of file ex_achd_table_slide.py.

MOVE_X

float ex_achd_table_slide.MOVE_X = 0.20

Definition at line 25 of file ex_achd_table_slide.py.

PRESS

ex_achd_table_slide.PRESS

Definition at line 42 of file ex_achd_table_slide.py.

PRESS_FORCE

float ex_achd_table_slide.PRESS_FORCE = 10.0

Definition at line 32 of file ex_achd_table_slide.py.

PRESS_STEPS

int ex_achd_table_slide.PRESS_STEPS = 250

Definition at line 34 of file ex_achd_table_slide.py.

SLIDE

ex_achd_table_slide.SLIDE

Definition at line 42 of file ex_achd_table_slide.py.

SLIDE_STEPS

int ex_achd_table_slide.SLIDE_STEPS = 2000

Definition at line 35 of file ex_achd_table_slide.py.

START_TCP

tuple ex_achd_table_slide.START_TCP = (0.40, 0.0, 0.12)

Definition at line 23 of file ex_achd_table_slide.py.

TABLE_Z

float ex_achd_table_slide.TABLE_Z = 0.447

Definition at line 24 of file ex_achd_table_slide.py.

TCP_SITE

str ex_achd_table_slide.TCP_SITE = "pinch_site"

Definition at line 40 of file ex_achd_table_slide.py.

V_MAX_LIN

float ex_achd_table_slide.V_MAX_LIN = 0.08

Definition at line 26 of file ex_achd_table_slide.py.

V_TOUCH

float ex_achd_table_slide.V_TOUCH = 0.02

Definition at line 27 of file ex_achd_table_slide.py.