ex_cabinet Namespace Reference

Functions
str	cabinet_path ()
mjk.Scene	build_scene ()
None	run_headless (mjk.Scene scene)
None	run_gui (mjk.Scene scene)
int	main ()

Variables
list	GRASPS = ["cabinet_grasp1", "cabinet_grasp2", "cabinet_grasp3"]

Detailed Description

Load the 3-drawer cabinet asset into a robot-less scene.

The cabinet is a mesh SceneObject (no robot). Headless prints each drawer's
grasp-site pose; --gui opens it in the wrapper's simulate UI. The drawers are
passive slide joints -- drag one open in the viewer and it stays put.

Function Documentation

build_scene()

mjk.Scene ex_cabinet.build_scene

(

)

Definition at line 22 of file ex_cabinet.py.

References cabinet_path().

Referenced by main().

cabinet_path()

str ex_cabinet.cabinet_path

(

)

Definition at line 18 of file ex_cabinet.py.

Referenced by build_scene().

main()

int ex_cabinet.main

(

)

Definition at line 53 of file ex_cabinet.py.

References build_scene(), main(), run_gui(), and run_headless().

Referenced by main().

run_gui()

None ex_cabinet.run_gui

(

mjk.Scene

scene

)

Definition at line 43 of file ex_cabinet.py.

Referenced by main().

run_headless()

None ex_cabinet.run_headless

(

mjk.Scene

scene

)

Definition at line 36 of file ex_cabinet.py.

Referenced by main().

Variable Documentation

GRASPS

list ex_cabinet.GRASPS = ["cabinet_grasp1", "cabinet_grasp2", "cabinet_grasp3"]

Definition at line 15 of file ex_cabinet.py.