ex_achd_table_slide Namespace Reference

Functions
tuple[mjk.Env, mjk.Robot]	build_env ()
kdl.JntArray	jnt (list[float] values)
float	clamp_abs (float value, float limit)
kdl.Jacobian	alpha_no_linear_z ()
	achd_step (robot, chain, fk, achd, rnea, target, err_prev, first_pid)
int	main ()

Variables
list	TABLE_POSE = [-0.00258, 1.43, 3.14, -1.70, -0.018, 1.74, 1.57]
float	TABLE_Z = 0.447
float	MOVE_X = 0.20
	KPLIN
	KDLIN
	KPROT
	KDROT
	BETA_MAX
	TAU_MAX

Detailed Description

ACHD table-slide example using PyKDL's Vereshchagin solver directly.

Ported from src/examples/ex_achd_table_slide.cpp. Slides the TCP along +X under
an acceleration-constrained hybrid-dynamics controller. An Env on_reset hook
restores the start pose (and re-primes the PID) so the simulate-UI reset replays
the slide.

Function Documentation

achd_step()

ex_achd_table_slide.achd_step	(		robot,
			chain,
			fk,
			achd,
			rnea,
			target,
			err_prev,
			first_pid )

Definition at line 74 of file ex_achd_table_slide.py.

References alpha_no_linear_z(), clamp_abs(), and jnt().

Referenced by main().

alpha_no_linear_z()

kdl.Jacobian ex_achd_table_slide.alpha_no_linear_z

(

)

Definition at line 64 of file ex_achd_table_slide.py.

Referenced by achd_step().

build_env()

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

(

)

Definition at line 25 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 60 of file ex_achd_table_slide.py.

Referenced by achd_step().

jnt()

kdl.JntArray ex_achd_table_slide.jnt

(

list[float]

values

)

Definition at line 53 of file ex_achd_table_slide.py.

Referenced by achd_step(), and main().

main()

int ex_achd_table_slide.main

(

)

Definition at line 110 of file ex_achd_table_slide.py.

References achd_step(), build_env(), jnt(), and main().

Referenced by main().

Variable Documentation

BETA_MAX

ex_achd_table_slide.BETA_MAX

Definition at line 22 of file ex_achd_table_slide.py.

KDLIN

ex_achd_table_slide.KDLIN

Definition at line 20 of file ex_achd_table_slide.py.

KDROT

ex_achd_table_slide.KDROT

Definition at line 21 of file ex_achd_table_slide.py.

KPLIN

ex_achd_table_slide.KPLIN

Definition at line 20 of file ex_achd_table_slide.py.

KPROT

ex_achd_table_slide.KPROT

Definition at line 21 of file ex_achd_table_slide.py.

MOVE_X

float ex_achd_table_slide.MOVE_X = 0.20

Definition at line 19 of file ex_achd_table_slide.py.

TABLE_POSE

list ex_achd_table_slide.TABLE_POSE = [-0.00258, 1.43, 3.14, -1.70, -0.018, 1.74, 1.57]

Definition at line 17 of file ex_achd_table_slide.py.

TABLE_Z

float ex_achd_table_slide.TABLE_Z = 0.447

Definition at line 18 of file ex_achd_table_slide.py.

TAU_MAX

ex_achd_table_slide.TAU_MAX

Definition at line 22 of file ex_achd_table_slide.py.