:py:mod:`rofunc.simulator.src.franka_attractor`
===============================================

.. py:module:: rofunc.simulator.src.franka_attractor

.. autodoc2-docstring:: rofunc.simulator.src.franka_attractor
   :allowtitles:

Module Contents
---------------

Functions
~~~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`update_franka <rofunc.simulator.src.franka_attractor.update_franka>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.update_franka
          :summary:

Data
~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`gym <rofunc.simulator.src.franka_attractor.gym>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.gym
          :summary:
   * - :py:obj:`args <rofunc.simulator.src.franka_attractor.args>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.args
          :summary:
   * - :py:obj:`sim_params <rofunc.simulator.src.franka_attractor.sim_params>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sim_params
          :summary:
   * - :py:obj:`sim <rofunc.simulator.src.franka_attractor.sim>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sim
          :summary:
   * - :py:obj:`viewer <rofunc.simulator.src.franka_attractor.viewer>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.viewer
          :summary:
   * - :py:obj:`plane_params <rofunc.simulator.src.franka_attractor.plane_params>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.plane_params
          :summary:
   * - :py:obj:`asset_root <rofunc.simulator.src.franka_attractor.asset_root>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.asset_root
          :summary:
   * - :py:obj:`franka_asset_file <rofunc.simulator.src.franka_attractor.franka_asset_file>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_asset_file
          :summary:
   * - :py:obj:`asset_options <rofunc.simulator.src.franka_attractor.asset_options>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.asset_options
          :summary:
   * - :py:obj:`franka_asset <rofunc.simulator.src.franka_attractor.franka_asset>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_asset
          :summary:
   * - :py:obj:`num_envs <rofunc.simulator.src.franka_attractor.num_envs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.num_envs
          :summary:
   * - :py:obj:`spacing <rofunc.simulator.src.franka_attractor.spacing>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.spacing
          :summary:
   * - :py:obj:`env_lower <rofunc.simulator.src.franka_attractor.env_lower>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.env_lower
          :summary:
   * - :py:obj:`env_upper <rofunc.simulator.src.franka_attractor.env_upper>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.env_upper
          :summary:
   * - :py:obj:`envs <rofunc.simulator.src.franka_attractor.envs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.envs
          :summary:
   * - :py:obj:`franka_handles <rofunc.simulator.src.franka_attractor.franka_handles>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_handles
          :summary:
   * - :py:obj:`franka_hand <rofunc.simulator.src.franka_attractor.franka_hand>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_hand
          :summary:
   * - :py:obj:`attractor_handles <rofunc.simulator.src.franka_attractor.attractor_handles>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.attractor_handles
          :summary:
   * - :py:obj:`attractor_properties <rofunc.simulator.src.franka_attractor.attractor_properties>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.attractor_properties
          :summary:
   * - :py:obj:`pose <rofunc.simulator.src.franka_attractor.pose>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.pose
          :summary:
   * - :py:obj:`axes_geom <rofunc.simulator.src.franka_attractor.axes_geom>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.axes_geom
          :summary:
   * - :py:obj:`sphere_rot <rofunc.simulator.src.franka_attractor.sphere_rot>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sphere_rot
          :summary:
   * - :py:obj:`sphere_pose <rofunc.simulator.src.franka_attractor.sphere_pose>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sphere_pose
          :summary:
   * - :py:obj:`sphere_geom <rofunc.simulator.src.franka_attractor.sphere_geom>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sphere_geom
          :summary:
   * - :py:obj:`num_per_row <rofunc.simulator.src.franka_attractor.num_per_row>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.num_per_row
          :summary:
   * - :py:obj:`franka_dof_props <rofunc.simulator.src.franka_attractor.franka_dof_props>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_dof_props
          :summary:
   * - :py:obj:`franka_lower_limits <rofunc.simulator.src.franka_attractor.franka_lower_limits>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_lower_limits
          :summary:
   * - :py:obj:`franka_upper_limits <rofunc.simulator.src.franka_attractor.franka_upper_limits>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_upper_limits
          :summary:
   * - :py:obj:`franka_ranges <rofunc.simulator.src.franka_attractor.franka_ranges>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_ranges
          :summary:
   * - :py:obj:`franka_mids <rofunc.simulator.src.franka_attractor.franka_mids>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_mids
          :summary:
   * - :py:obj:`franka_num_dofs <rofunc.simulator.src.franka_attractor.franka_num_dofs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_num_dofs
          :summary:
   * - :py:obj:`cam_pos <rofunc.simulator.src.franka_attractor.cam_pos>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.cam_pos
          :summary:
   * - :py:obj:`cam_target <rofunc.simulator.src.franka_attractor.cam_target>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.cam_target
          :summary:
   * - :py:obj:`next_franka_update_time <rofunc.simulator.src.franka_attractor.next_franka_update_time>`
     - .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.next_franka_update_time
          :summary:

API
~~~

.. py:data:: gym
   :canonical: rofunc.simulator.src.franka_attractor.gym
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.gym

.. py:data:: args
   :canonical: rofunc.simulator.src.franka_attractor.args
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.args

.. py:data:: sim_params
   :canonical: rofunc.simulator.src.franka_attractor.sim_params
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sim_params

.. py:data:: sim
   :canonical: rofunc.simulator.src.franka_attractor.sim
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sim

.. py:data:: viewer
   :canonical: rofunc.simulator.src.franka_attractor.viewer
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.viewer

.. py:data:: plane_params
   :canonical: rofunc.simulator.src.franka_attractor.plane_params
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.plane_params

.. py:data:: asset_root
   :canonical: rofunc.simulator.src.franka_attractor.asset_root
   :value: '../assets'

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.asset_root

.. py:data:: franka_asset_file
   :canonical: rofunc.simulator.src.franka_attractor.franka_asset_file
   :value: 'urdf/franka_description/robots/franka_panda.urdf'

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_asset_file

.. py:data:: asset_options
   :canonical: rofunc.simulator.src.franka_attractor.asset_options
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.asset_options

.. py:data:: franka_asset
   :canonical: rofunc.simulator.src.franka_attractor.franka_asset
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_asset

.. py:data:: num_envs
   :canonical: rofunc.simulator.src.franka_attractor.num_envs
   :value: 36

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.num_envs

.. py:data:: spacing
   :canonical: rofunc.simulator.src.franka_attractor.spacing
   :value: 1.0

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.spacing

.. py:data:: env_lower
   :canonical: rofunc.simulator.src.franka_attractor.env_lower
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.env_lower

.. py:data:: env_upper
   :canonical: rofunc.simulator.src.franka_attractor.env_upper
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.env_upper

.. py:data:: envs
   :canonical: rofunc.simulator.src.franka_attractor.envs
   :value: []

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.envs

.. py:data:: franka_handles
   :canonical: rofunc.simulator.src.franka_attractor.franka_handles
   :value: []

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_handles

.. py:data:: franka_hand
   :canonical: rofunc.simulator.src.franka_attractor.franka_hand
   :value: 'panda_hand'

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_hand

.. py:data:: attractor_handles
   :canonical: rofunc.simulator.src.franka_attractor.attractor_handles
   :value: []

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.attractor_handles

.. py:data:: attractor_properties
   :canonical: rofunc.simulator.src.franka_attractor.attractor_properties
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.attractor_properties

.. py:data:: pose
   :canonical: rofunc.simulator.src.franka_attractor.pose
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.pose

.. py:data:: axes_geom
   :canonical: rofunc.simulator.src.franka_attractor.axes_geom
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.axes_geom

.. py:data:: sphere_rot
   :canonical: rofunc.simulator.src.franka_attractor.sphere_rot
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sphere_rot

.. py:data:: sphere_pose
   :canonical: rofunc.simulator.src.franka_attractor.sphere_pose
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sphere_pose

.. py:data:: sphere_geom
   :canonical: rofunc.simulator.src.franka_attractor.sphere_geom
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.sphere_geom

.. py:data:: num_per_row
   :canonical: rofunc.simulator.src.franka_attractor.num_per_row
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.num_per_row

.. py:data:: franka_dof_props
   :canonical: rofunc.simulator.src.franka_attractor.franka_dof_props
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_dof_props

.. py:data:: franka_lower_limits
   :canonical: rofunc.simulator.src.franka_attractor.franka_lower_limits
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_lower_limits

.. py:data:: franka_upper_limits
   :canonical: rofunc.simulator.src.franka_attractor.franka_upper_limits
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_upper_limits

.. py:data:: franka_ranges
   :canonical: rofunc.simulator.src.franka_attractor.franka_ranges
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_ranges

.. py:data:: franka_mids
   :canonical: rofunc.simulator.src.franka_attractor.franka_mids
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_mids

.. py:data:: franka_num_dofs
   :canonical: rofunc.simulator.src.franka_attractor.franka_num_dofs
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.franka_num_dofs

.. py:function:: update_franka(t)
   :canonical: rofunc.simulator.src.franka_attractor.update_franka

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.update_franka

.. py:data:: cam_pos
   :canonical: rofunc.simulator.src.franka_attractor.cam_pos
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.cam_pos

.. py:data:: cam_target
   :canonical: rofunc.simulator.src.franka_attractor.cam_target
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.cam_target

.. py:data:: next_franka_update_time
   :canonical: rofunc.simulator.src.franka_attractor.next_franka_update_time
   :value: 1.5

   .. autodoc2-docstring:: rofunc.simulator.src.franka_attractor.next_franka_update_time