ex_table_pick_place Namespace Reference

Classes
class	ResetRequested
class	Phase

Functions
mjk.AttachmentSpec	gripper_attachment (str gripper_path)
mjk.SceneObject	table_object (str table_path)
mjk.SceneObject	cube_object ()
tuple[mjk.Env, mjk.Robot]	build_env ()
kdl.JntArray	jnt (list[float] values)
list[float]	as_list (kdl.JntArray q)
float	clamp (float value, float low, float high)
float	clamp_joint (float value, tuple[float, float] limit)
list[float]	solve_position_ik (kdl.Chain chain, list[float] seed_values, kdl.Frame target, list[tuple[float, float]] joint_limits)
dict[str, list[float]]	build_waypoints (mjk.Env env, mjk.Robot robot)
None	apply_pd_gravity (mjk.Robot robot, list[float] target)
float	max_abs_joint_err (mjk.Robot robot, list[float] target)
list[float]	lerp (list[float] start, list[float] target, float alpha)
bool	step_once (mjk.Env env, mjk.Robot robot, mjk.SimulateViewer|None viewer, dict state)
bool	run_phase (mjk.Env env, mjk.Robot robot, Phase phase, mjk.SimulateViewer|None viewer, dict state)
int	main ()

Variables
list	HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	SURFACE_Z = 0.70
float	CUBE_HALF_SIZE = 0.02
float	PICK_X = 0.40
float	PICK_Y = 0.00
float	PLACE_X = 0.40
float	PLACE_Y = 0.24
list	KP = [100.0, 200.0, 100.0, 200.0, 100.0, 200.0, 100.0]
list	KD = [10.0, 20.0, 10.0, 20.0, 10.0, 20.0, 10.0]
list	CUBE_START = [PICK_X, PICK_Y, SURFACE_Z + CUBE_HALF_SIZE]

Detailed Description

Table pick-place example ported from src/examples/ex_table_pick_place.cpp.

Picks a cube from one table location and places it at another using joint
impedance control. An Env on_reset hook re-homes the arm, re-poses the cube,
and opens the gripper so the simulate-UI reset replays the task.

Function Documentation

apply_pd_gravity()

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

Definition at line 179 of file ex_table_pick_place.py.

Referenced by run_phase().

as_list()

list[float] ex_table_pick_place.as_list

(

kdl.JntArray

q

)

Definition at line 109 of file ex_table_pick_place.py.

Referenced by solve_position_ik().

build_env()

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

(

)

Definition at line 74 of file ex_table_pick_place.py.

References cube_object(), gripper_attachment(), and table_object().

Referenced by main().

build_waypoints()

dict[str, list[float]] ex_table_pick_place.build_waypoints	(	mjk.Env	env,
		mjk.Robot	robot )

Definition at line 154 of file ex_table_pick_place.py.

References solve_position_ik().

Referenced by main().

clamp()

float ex_table_pick_place.clamp	(	float	value,
		float	low,
		float	high )

Definition at line 113 of file ex_table_pick_place.py.

Referenced by clamp_joint(), and run_phase().

clamp_joint()

float ex_table_pick_place.clamp_joint	(	float	value,
		tuple[float, float]	limit )

Definition at line 117 of file ex_table_pick_place.py.

References clamp().

Referenced by solve_position_ik().

cube_object()

mjk.SceneObject ex_table_pick_place.cube_object

(

)

Definition at line 61 of file ex_table_pick_place.py.

Referenced by build_env().

gripper_attachment()

mjk.AttachmentSpec ex_table_pick_place.gripper_attachment

(

str

gripper_path

)

Definition at line 44 of file ex_table_pick_place.py.

Referenced by build_env().

jnt()

kdl.JntArray ex_table_pick_place.jnt

(

list[float]

values

)

Definition at line 102 of file ex_table_pick_place.py.

Referenced by solve_position_ik().

lerp()

list[float] ex_table_pick_place.lerp	(	list[float]	start,
		list[float]	target,
		float	alpha )

Definition at line 192 of file ex_table_pick_place.py.

Referenced by run_phase().

main()

int ex_table_pick_place.main

(

)

Definition at line 239 of file ex_table_pick_place.py.

References build_env(), build_waypoints(), main(), and run_phase().

Referenced by main().

max_abs_joint_err()

float ex_table_pick_place.max_abs_joint_err	(	mjk.Robot	robot,
		list[float]	target )

Definition at line 188 of file ex_table_pick_place.py.

Referenced by run_phase().

run_phase()

bool ex_table_pick_place.run_phase	(	mjk.Env	env,
		mjk.Robot	robot,
		Phase	phase,
		mjk.SimulateViewer | None	viewer,
		dict	state )

Definition at line 210 of file ex_table_pick_place.py.

References apply_pd_gravity(), clamp(), lerp(), max_abs_joint_err(), and step_once().

Referenced by main().

solve_position_ik()

list[float] ex_table_pick_place.solve_position_ik	(	kdl.Chain	chain,
		list[float]	seed_values,
		kdl.Frame	target,
		list[tuple[float, float]]	joint_limits )

Definition at line 124 of file ex_table_pick_place.py.

References as_list(), clamp_joint(), and jnt().

Referenced by build_waypoints().

step_once()

bool ex_table_pick_place.step_once	(	mjk.Env	env,
		mjk.Robot	robot,
		mjk.SimulateViewer | None	viewer,
		dict	state )

Definition at line 196 of file ex_table_pick_place.py.

Referenced by run_phase().

table_object()

mjk.SceneObject ex_table_pick_place.table_object

(

str

table_path

)

Definition at line 52 of file ex_table_pick_place.py.

Referenced by build_env().

Variable Documentation

CUBE_HALF_SIZE

float ex_table_pick_place.CUBE_HALF_SIZE = 0.02

Definition at line 20 of file ex_table_pick_place.py.

CUBE_START

list ex_table_pick_place.CUBE_START = [PICK_X, PICK_Y, SURFACE_Z + CUBE_HALF_SIZE]

Definition at line 27 of file ex_table_pick_place.py.

HOME

list ex_table_pick_place.HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]

Definition at line 18 of file ex_table_pick_place.py.

KD

list ex_table_pick_place.KD = [10.0, 20.0, 10.0, 20.0, 10.0, 20.0, 10.0]

Definition at line 26 of file ex_table_pick_place.py.

KP

list ex_table_pick_place.KP = [100.0, 200.0, 100.0, 200.0, 100.0, 200.0, 100.0]

Definition at line 25 of file ex_table_pick_place.py.

PICK_X

float ex_table_pick_place.PICK_X = 0.40

Definition at line 21 of file ex_table_pick_place.py.

PICK_Y

float ex_table_pick_place.PICK_Y = 0.00

Definition at line 22 of file ex_table_pick_place.py.

PLACE_X

float ex_table_pick_place.PLACE_X = 0.40

Definition at line 23 of file ex_table_pick_place.py.

PLACE_Y

float ex_table_pick_place.PLACE_Y = 0.24

Definition at line 24 of file ex_table_pick_place.py.

SURFACE_Z

float ex_table_pick_place.SURFACE_Z = 0.70

Definition at line 19 of file ex_table_pick_place.py.