ex_table_pour Namespace Reference

Classes
class	Phase
class	ResetRequested

Functions
mjk.AttachmentSpec	gripper_attachment (str gripper_path)
mjk.AttachmentSpec	bottle_attachment (str bottle_path)
mjk.SceneObject	table_object (str table_path)
mjk.SceneObject	receiver_object (str receiver_path)
mjk.SceneObject	ball_object (int index)
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)
tuple[kdl.JntArray, kdl.JntArray]	joint_limit_arrays (mjk.Robot robot)
dict[str, list[float]]	build_waypoints (mjk.Env env, mjk.Robot robot)
list[float]	gravity (kdl.ChainDynParam dyn, q_values)
None	pd_gravity (mjk.Robot robot, kdl.ChainDynParam dyn, 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)
None	place_balls_in_bottle (mjk.Env env, mjk.Robot robot)
tuple[int, list[float]]	balls_in_receiver (mjk.Env env)
bool	run_phase (env, robot, fingers, dyn, Phase phase, dict state)
int	main ()

Variables
list	HOME = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
float	TABLE_Z = 0.70
float	ROBOT_BACK_X = -0.26
float	JUG_X = 0.30
float	JUG_Y = 0.14
float	RETREAT_X = JUG_X - 0.08
float	RETREAT_Y = JUG_Y - 0.08
float	JUG_RADIUS = 0.028
float	JUG_HEIGHT = 0.084
float	BALL_RADIUS = 0.007
int	NUM_BALLS = 36
float	POUR_TILT_RAD = 1.95
float	TILT_OUTLET_Z = TABLE_Z + 0.18
float	GRIPPER_CLOSED = 0.82
int	MIN_IN_RECEIVER = 24
int	IK_TOL = 3e-3
list	KP = [120.0, 220.0, 120.0, 220.0, 110.0, 190.0, 90.0]
list	KD = [12.0, 22.0, 12.0, 22.0, 11.0, 18.0, 9.0]

Detailed Description

Pour balls into a tabletop receiver; Python counterpart of src/examples/ex_table_pour.cpp.

Headless, it exits 1 if fewer than MIN_IN_RECEIVER balls land in the receiver; --record [out.mp4]
also writes a 1080p MP4 through VideoRecorder (EGL + ffmpeg).

Function Documentation

as_list()

list[float] ex_table_pour.as_list

(

kdl.JntArray

q

)

Definition at line 132 of file ex_table_pour.py.

Referenced by build_waypoints().

ball_object()

mjk.SceneObject ex_table_pour.ball_object

(

int

index

)

Definition at line 84 of file ex_table_pour.py.

Referenced by build_env().

balls_in_receiver()

tuple[int, list[float]] ex_table_pour.balls_in_receiver

(

mjk.Env

env

)

Definition at line 259 of file ex_table_pour.py.

Referenced by main().

bottle_attachment()

mjk.AttachmentSpec ex_table_pour.bottle_attachment

(

str

bottle_path

)

Definition at line 59 of file ex_table_pour.py.

Referenced by build_env().

build_env()

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

(

)

Definition at line 97 of file ex_table_pour.py.

References ball_object(), bottle_attachment(), gripper_attachment(), receiver_object(), and table_object().

Referenced by main().

build_waypoints()

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

Definition at line 151 of file ex_table_pour.py.

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

Referenced by main().

clamp()

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

Definition at line 136 of file ex_table_pour.py.

Referenced by run_phase().

gravity()

list[float] ex_table_pour.gravity	(	kdl.ChainDynParam	dyn,
			q_values )

Definition at line 223 of file ex_table_pour.py.

References jnt().

Referenced by main(), and pd_gravity().

gripper_attachment()

mjk.AttachmentSpec ex_table_pour.gripper_attachment

(

str

gripper_path

)

Definition at line 51 of file ex_table_pour.py.

Referenced by build_env().

jnt()

kdl.JntArray ex_table_pour.jnt

(

list[float]

values

)

Definition at line 125 of file ex_table_pour.py.

Referenced by build_waypoints(), and gravity().

joint_limit_arrays()

tuple[kdl.JntArray, kdl.JntArray] ex_table_pour.joint_limit_arrays

(

mjk.Robot

robot

)

Definition at line 140 of file ex_table_pour.py.

Referenced by build_waypoints().

lerp()

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

Definition at line 241 of file ex_table_pour.py.

Referenced by run_phase().

main()

int ex_table_pour.main

(

)

Definition at line 304 of file ex_table_pour.py.

References balls_in_receiver(), build_env(), build_waypoints(), gravity(), main(), place_balls_in_bottle(), and run_phase().

Referenced by main().

max_abs_joint_err()

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

Definition at line 237 of file ex_table_pour.py.

Referenced by run_phase().

pd_gravity()

None ex_table_pour.pd_gravity	(	mjk.Robot	robot,
		kdl.ChainDynParam	dyn,
		list[float]	target )

Definition at line 229 of file ex_table_pour.py.

References gravity().

Referenced by run_phase().

place_balls_in_bottle()

None ex_table_pour.place_balls_in_bottle	(	mjk.Env	env,
		mjk.Robot	robot )

Definition at line 245 of file ex_table_pour.py.

Referenced by main().

receiver_object()

mjk.SceneObject ex_table_pour.receiver_object

(

str

receiver_path

)

Definition at line 76 of file ex_table_pour.py.

Referenced by build_env().

run_phase()

bool ex_table_pour.run_phase	(		env,
			robot,
			fingers,
			dyn,
		Phase	phase,
		dict	state )

One update() per step: it reads the state and applies the previous cycle's command.

Definition at line 275 of file ex_table_pour.py.

References clamp(), lerp(), max_abs_joint_err(), and pd_gravity().

Referenced by main().

table_object()

mjk.SceneObject ex_table_pour.table_object

(

str

table_path

)

Definition at line 67 of file ex_table_pour.py.

Referenced by build_env().

Variable Documentation

BALL_RADIUS

float ex_table_pour.BALL_RADIUS = 0.007

Definition at line 26 of file ex_table_pour.py.

GRIPPER_CLOSED

float ex_table_pour.GRIPPER_CLOSED = 0.82

Definition at line 30 of file ex_table_pour.py.

HOME

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

Definition at line 17 of file ex_table_pour.py.

IK_TOL

int ex_table_pour.IK_TOL = 3e-3

Definition at line 32 of file ex_table_pour.py.

JUG_HEIGHT

float ex_table_pour.JUG_HEIGHT = 0.084

Definition at line 25 of file ex_table_pour.py.

JUG_RADIUS

float ex_table_pour.JUG_RADIUS = 0.028

Definition at line 24 of file ex_table_pour.py.

JUG_X

float ex_table_pour.JUG_X = 0.30

Definition at line 20 of file ex_table_pour.py.

JUG_Y

float ex_table_pour.JUG_Y = 0.14

Definition at line 21 of file ex_table_pour.py.

KD

list ex_table_pour.KD = [12.0, 22.0, 12.0, 22.0, 11.0, 18.0, 9.0]

Definition at line 34 of file ex_table_pour.py.

KP

list ex_table_pour.KP = [120.0, 220.0, 120.0, 220.0, 110.0, 190.0, 90.0]

Definition at line 33 of file ex_table_pour.py.

MIN_IN_RECEIVER

int ex_table_pour.MIN_IN_RECEIVER = 24

Definition at line 31 of file ex_table_pour.py.

NUM_BALLS

int ex_table_pour.NUM_BALLS = 36

Definition at line 27 of file ex_table_pour.py.

POUR_TILT_RAD

float ex_table_pour.POUR_TILT_RAD = 1.95

Definition at line 28 of file ex_table_pour.py.

RETREAT_X

float ex_table_pour.RETREAT_X = JUG_X - 0.08

Definition at line 22 of file ex_table_pour.py.

RETREAT_Y

float ex_table_pour.RETREAT_Y = JUG_Y - 0.08

Definition at line 23 of file ex_table_pour.py.

ROBOT_BACK_X

float ex_table_pour.ROBOT_BACK_X = -0.26

Definition at line 19 of file ex_table_pour.py.

TABLE_Z

float ex_table_pour.TABLE_Z = 0.70

Definition at line 18 of file ex_table_pour.py.

TILT_OUTLET_Z

float ex_table_pour.TILT_OUTLET_Z = TABLE_Z + 0.18

Definition at line 29 of file ex_table_pour.py.