ex_dual_arm Namespace Reference

Functions
mjk.AttachmentSpec	attachment_gripper (str path, str prefix="g_")
None	apply (mjk.Robot robot, list[float] target)
int	main ()

Variables
list	HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
list	KP = [100, 200, 100, 200, 100, 200, 100]
list	KD = [10, 20, 10, 20, 10, 20, 10]

Detailed Description

Dual-arm example ported from src/examples/ex_dual_arm.cpp.

Two Kinova GEN3 arms, each with a Robotiq 2F-85 gripper, in one scene. Both run
joint-space impedance to the home pose. An Env on_reset hook re-homes both arms.

Function Documentation

apply()

None ex_dual_arm.apply	(	mjk.Robot	robot,
		list[float]	target )

Definition at line 29 of file ex_dual_arm.py.

Referenced by main().

attachment_gripper()

mjk.AttachmentSpec ex_dual_arm.attachment_gripper	(	str	path,
		str	prefix = "g_" )

Definition at line 21 of file ex_dual_arm.py.

Referenced by main().

main()

int ex_dual_arm.main

(

)

Definition at line 38 of file ex_dual_arm.py.

References apply(), attachment_gripper(), and main().

Referenced by main().

Variable Documentation

HOME_POSE

list ex_dual_arm.HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]

Definition at line 15 of file ex_dual_arm.py.

KD

list ex_dual_arm.KD = [10, 20, 10, 20, 10, 20, 10]

Definition at line 18 of file ex_dual_arm.py.

KP

list ex_dual_arm.KP = [100, 200, 100, 200, 100, 200, 100]

Definition at line 17 of file ex_dual_arm.py.