ex_gravity_comp Namespace Reference

Functions
tuple[mjk.Env, mjk.Robot]	build_env (str model_path)
None	run_loop (mjk.Env env, mjk.Robot robot, step_fn, *, float duration, bool gui)
int	main ()

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

Detailed Description

Gravity-compensation example ported from src/examples/ex_gravity_comp.cpp.

Uses an Env with an on_reset hook (re-homes the arm) so the simulate-UI reset
button restores the home pose, mirroring the C++ example.

Function Documentation

build_env()

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

(

str

model_path

)

Definition at line 17 of file ex_gravity_comp.py.

Referenced by main().

main()

int ex_gravity_comp.main

(

)

Definition at line 51 of file ex_gravity_comp.py.

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

Referenced by main().

run_loop()

None ex_gravity_comp.run_loop	(	mjk.Env	env,
		mjk.Robot	robot,
			step_fn,
		*	,
		float	duration,
		bool	gui )

Definition at line 30 of file ex_gravity_comp.py.

Referenced by main().

Variable Documentation

HOME_POSE

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

Definition at line 14 of file ex_gravity_comp.py.