Functions
tuple[mjk.Scene, mjk.Robot]	build_scene (str model_path)
int	main ()

Variables
list	HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
int	FPS = 60
float	DURATION = 5.0
float	GRAVITY_Z = -9.81
dict	RESOLUTIONS

Detailed Description

Headless recording example ported from src/examples/ex_record.cpp.

Records the Kinova GEN3 arm holding the home pose via KDL gravity compensation
(TORQUE mode) for 5 s at 60 fps, with the camera slowly orbiting the arm. No
display or GLFW window is needed.

Function Documentation

◆ build_scene()

tuple[mjk.Scene, mjk.Robot] ex_record.build_scene ( str model_path )

Definition at line 31 of file ex_record.py.

Referenced by main().

◆ main()

int ex_record.main ( )

Definition at line 44 of file ex_record.py.

References build_scene(), and main().

Referenced by main().

Variable Documentation

◆ DURATION

float ex_record.DURATION = 5.0

Definition at line 18 of file ex_record.py.

◆ FPS

int ex_record.FPS = 60

Definition at line 17 of file ex_record.py.

◆ GRAVITY_Z

float ex_record.GRAVITY_Z = -9.81

Definition at line 19 of file ex_record.py.

◆ HOME_POSE

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

Definition at line 16 of file ex_record.py.

◆ RESOLUTIONS

dict ex_record.RESOLUTIONS

Initial value:

=  {
    "360p": mjk.VideoResolution.R360p,
    "480p": mjk.VideoResolution.R480p,
    "720p": mjk.VideoResolution.R720p,
    "1080p": mjk.VideoResolution.R1080p,
    "2k": mjk.VideoResolution.R2K,
    "4k": mjk.VideoResolution.R4K,
}

Definition at line 21 of file ex_record.py.

Functions

Variables