ex_vel_ctrl Namespace Reference

Functions
float	clamp (float value, float low, float high)
tuple[mjk.Env, mjk.Robot]	build_env (str model_path)
int	main ()

Variables
list	HOME_POSE = [0.0, 0.2618, 3.1416, -2.2689, 0.0, 0.9599, 1.5708]
list	TARGET_POSE = [0.3, 0.5, 2.9, -2.0, 0.3, 1.2, 1.3]
float	KV = 2.0
float	MAX_VEL = 0.6
float	TOL = 0.01

Detailed Description

Joint velocity-control example ported from src/examples/ex_vel_ctrl.cpp.

gen3.xml has POSITION actuators, so velocity control integrates a clamped
velocity command into the position setpoint each step. An Env on_reset hook
re-homes the arm and restarts the motion so the simulate-UI reset replays it.

Function Documentation

build_env()

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

(

str

model_path

)

Definition at line 26 of file ex_vel_ctrl.py.

Referenced by main().

clamp()

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

Definition at line 22 of file ex_vel_ctrl.py.

Referenced by main().

main()

int ex_vel_ctrl.main

(

)

Definition at line 40 of file ex_vel_ctrl.py.

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

Referenced by main().

Variable Documentation

HOME_POSE

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

Definition at line 15 of file ex_vel_ctrl.py.

KV

float ex_vel_ctrl.KV = 2.0

Definition at line 17 of file ex_vel_ctrl.py.

MAX_VEL

float ex_vel_ctrl.MAX_VEL = 0.6

Definition at line 18 of file ex_vel_ctrl.py.

TARGET_POSE

list ex_vel_ctrl.TARGET_POSE = [0.3, 0.5, 2.9, -2.0, 0.3, 1.2, 1.3]

Definition at line 16 of file ex_vel_ctrl.py.

TOL

float ex_vel_ctrl.TOL = 0.01

Definition at line 19 of file ex_vel_ctrl.py.