ex_table_scene Namespace Reference

Functions
mjk.AttachmentSpec	attachment_gripper (str path)
mjk.SceneObject	table_object (str path)
mjk.SceneObject	make_box (name, x, y, hx, hy, hz, color)
mjk.SceneObject	make_sphere (name, x, y, radius, color)
	scene_objects (table_path)
tuple[mjk.Env, mjk.Robot]	build_env (str model_path, str gripper_path, str table_path)
None	run_loop (mjk.Env env, mjk.Robot robot, step_fn, *, float duration, bool gui)
int	main ()

Variables
float	SURFACE_Z = 0.7
list	HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]

Detailed Description

Table-scene example ported from src/examples/ex_table_scene.cpp.

Arm + gripper on a table with free objects. The arm runs KDL gravity
compensation and the gripper cycles open/closed. An Env on_reset hook re-homes
the arm so the simulate-UI reset button restores the scene.

Function Documentation

attachment_gripper()

mjk.AttachmentSpec ex_table_scene.attachment_gripper

(

str

path

)

Definition at line 20 of file ex_table_scene.py.

Referenced by build_env().

build_env()

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

Definition at line 72 of file ex_table_scene.py.

References attachment_gripper(), and scene_objects().

Referenced by main().

main()

int ex_table_scene.main

(

)

Definition at line 123 of file ex_table_scene.py.

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

Referenced by main().

make_box()

mjk.SceneObject ex_table_scene.make_box	(		name,
			x,
			y,
			hx,
			hy,
			hz,
			color )

Definition at line 37 of file ex_table_scene.py.

Referenced by scene_objects().

make_sphere()

mjk.SceneObject ex_table_scene.make_sphere	(		name,
			x,
			y,
			radius,
			color )

Definition at line 49 of file ex_table_scene.py.

Referenced by scene_objects().

run_loop()

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

Definition at line 102 of file ex_table_scene.py.

Referenced by main().

scene_objects()

ex_table_scene.scene_objects

(

table_path

)

Definition at line 61 of file ex_table_scene.py.

References make_box(), make_sphere(), and table_object().

Referenced by build_env().

table_object()

mjk.SceneObject ex_table_scene.table_object

(

str

path

)

Definition at line 28 of file ex_table_scene.py.

Referenced by scene_objects().

Variable Documentation

HOME_POSE

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

Definition at line 17 of file ex_table_scene.py.

SURFACE_Z

float ex_table_scene.SURFACE_Z = 0.7

Definition at line 16 of file ex_table_scene.py.