ex_impedance Namespace Reference

Functions
mjk.AttachmentSpec	attachment_gripper (str path)
tuple[mjk.Env, mjk.Robot]	build_env (str model_path, str gripper_path)
None	apply_pd_gravity (mjk.Robot robot, list[float] target)
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]
list	KP = [100, 200, 100, 200, 100, 200, 100]
list	KD = [10, 20, 10, 20, 10, 20, 10]

Detailed Description

Joint-space impedance example ported from src/examples/ex_impedance.cpp.

tau = Kp*(q_home - q) - Kd*qdot + g_kdl, applied in TORQUE mode, with the
gripper cycling open/closed. An Env on_reset hook re-homes the arm.

Function Documentation

apply_pd_gravity()

None ex_impedance.apply_pd_gravity	(	mjk.Robot	robot,
		list[float]	target )

Definition at line 46 of file ex_impedance.py.

Referenced by main().

attachment_gripper()

mjk.AttachmentSpec ex_impedance.attachment_gripper

(

str

path

)

Definition at line 21 of file ex_impedance.py.

Referenced by build_env().

build_env()

tuple[mjk.Env, mjk.Robot] ex_impedance.build_env	(	str	model_path,
		str	gripper_path )

Definition at line 29 of file ex_impedance.py.

References attachment_gripper().

Referenced by main().

main()

int ex_impedance.main

(

)

Definition at line 76 of file ex_impedance.py.

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

Referenced by main().

run_loop()

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

Definition at line 55 of file ex_impedance.py.

Referenced by main().

Variable Documentation

HOME_POSE

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

Definition at line 15 of file ex_impedance.py.

KD

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

Definition at line 18 of file ex_impedance.py.

KP

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

Definition at line 17 of file ex_impedance.py.