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

.. py:module:: rofunc.simulator.src.joint_monkey

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

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

Classes
~~~~~~~

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

   * - :py:obj:`AssetDesc <rofunc.simulator.src.joint_monkey.AssetDesc>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.AssetDesc
          :summary:

Functions
~~~~~~~~~

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

   * - :py:obj:`clamp <rofunc.simulator.src.joint_monkey.clamp>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.clamp
          :summary:

Data
~~~~

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

   * - :py:obj:`asset_descriptors <rofunc.simulator.src.joint_monkey.asset_descriptors>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset_descriptors
          :summary:
   * - :py:obj:`args <rofunc.simulator.src.joint_monkey.args>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.args
          :summary:
   * - :py:obj:`gym <rofunc.simulator.src.joint_monkey.gym>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.gym
          :summary:
   * - :py:obj:`sim_params <rofunc.simulator.src.joint_monkey.sim_params>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.sim_params
          :summary:
   * - :py:obj:`sim <rofunc.simulator.src.joint_monkey.sim>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.sim
          :summary:
   * - :py:obj:`plane_params <rofunc.simulator.src.joint_monkey.plane_params>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.plane_params
          :summary:
   * - :py:obj:`viewer <rofunc.simulator.src.joint_monkey.viewer>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.viewer
          :summary:
   * - :py:obj:`asset_root <rofunc.simulator.src.joint_monkey.asset_root>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset_root
          :summary:
   * - :py:obj:`asset_file <rofunc.simulator.src.joint_monkey.asset_file>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset_file
          :summary:
   * - :py:obj:`asset_options <rofunc.simulator.src.joint_monkey.asset_options>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset_options
          :summary:
   * - :py:obj:`asset <rofunc.simulator.src.joint_monkey.asset>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset
          :summary:
   * - :py:obj:`dof_names <rofunc.simulator.src.joint_monkey.dof_names>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_names
          :summary:
   * - :py:obj:`dof_props <rofunc.simulator.src.joint_monkey.dof_props>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_props
          :summary:
   * - :py:obj:`num_dofs <rofunc.simulator.src.joint_monkey.num_dofs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.num_dofs
          :summary:
   * - :py:obj:`dof_states <rofunc.simulator.src.joint_monkey.dof_states>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_states
          :summary:
   * - :py:obj:`dof_types <rofunc.simulator.src.joint_monkey.dof_types>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_types
          :summary:
   * - :py:obj:`dof_positions <rofunc.simulator.src.joint_monkey.dof_positions>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_positions
          :summary:
   * - :py:obj:`stiffnesses <rofunc.simulator.src.joint_monkey.stiffnesses>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.stiffnesses
          :summary:
   * - :py:obj:`dampings <rofunc.simulator.src.joint_monkey.dampings>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dampings
          :summary:
   * - :py:obj:`armatures <rofunc.simulator.src.joint_monkey.armatures>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.armatures
          :summary:
   * - :py:obj:`has_limits <rofunc.simulator.src.joint_monkey.has_limits>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.has_limits
          :summary:
   * - :py:obj:`lower_limits <rofunc.simulator.src.joint_monkey.lower_limits>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.lower_limits
          :summary:
   * - :py:obj:`upper_limits <rofunc.simulator.src.joint_monkey.upper_limits>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.upper_limits
          :summary:
   * - :py:obj:`defaults <rofunc.simulator.src.joint_monkey.defaults>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.defaults
          :summary:
   * - :py:obj:`speeds <rofunc.simulator.src.joint_monkey.speeds>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.speeds
          :summary:
   * - :py:obj:`num_envs <rofunc.simulator.src.joint_monkey.num_envs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.num_envs
          :summary:
   * - :py:obj:`num_per_row <rofunc.simulator.src.joint_monkey.num_per_row>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.num_per_row
          :summary:
   * - :py:obj:`spacing <rofunc.simulator.src.joint_monkey.spacing>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.spacing
          :summary:
   * - :py:obj:`env_lower <rofunc.simulator.src.joint_monkey.env_lower>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.env_lower
          :summary:
   * - :py:obj:`env_upper <rofunc.simulator.src.joint_monkey.env_upper>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.env_upper
          :summary:
   * - :py:obj:`cam_pos <rofunc.simulator.src.joint_monkey.cam_pos>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.cam_pos
          :summary:
   * - :py:obj:`cam_target <rofunc.simulator.src.joint_monkey.cam_target>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.cam_target
          :summary:
   * - :py:obj:`envs <rofunc.simulator.src.joint_monkey.envs>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.envs
          :summary:
   * - :py:obj:`actor_handles <rofunc.simulator.src.joint_monkey.actor_handles>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.actor_handles
          :summary:
   * - :py:obj:`ANIM_SEEK_LOWER <rofunc.simulator.src.joint_monkey.ANIM_SEEK_LOWER>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_SEEK_LOWER
          :summary:
   * - :py:obj:`ANIM_SEEK_UPPER <rofunc.simulator.src.joint_monkey.ANIM_SEEK_UPPER>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_SEEK_UPPER
          :summary:
   * - :py:obj:`ANIM_SEEK_DEFAULT <rofunc.simulator.src.joint_monkey.ANIM_SEEK_DEFAULT>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_SEEK_DEFAULT
          :summary:
   * - :py:obj:`ANIM_FINISHED <rofunc.simulator.src.joint_monkey.ANIM_FINISHED>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_FINISHED
          :summary:
   * - :py:obj:`anim_state <rofunc.simulator.src.joint_monkey.anim_state>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.anim_state
          :summary:
   * - :py:obj:`current_dof <rofunc.simulator.src.joint_monkey.current_dof>`
     - .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.current_dof
          :summary:

API
~~~

.. py:function:: clamp(x, min_value, max_value)
   :canonical: rofunc.simulator.src.joint_monkey.clamp

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.clamp

.. py:class:: AssetDesc(file_name, flip_visual_attachments=False)
   :canonical: rofunc.simulator.src.joint_monkey.AssetDesc

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.AssetDesc

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.AssetDesc.__init__

.. py:data:: asset_descriptors
   :canonical: rofunc.simulator.src.joint_monkey.asset_descriptors
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset_descriptors

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

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

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

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

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

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

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

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

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

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

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

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

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

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

.. py:data:: asset_file
   :canonical: rofunc.simulator.src.joint_monkey.asset_file
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset_file

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

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

.. py:data:: asset
   :canonical: rofunc.simulator.src.joint_monkey.asset
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.asset

.. py:data:: dof_names
   :canonical: rofunc.simulator.src.joint_monkey.dof_names
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_names

.. py:data:: dof_props
   :canonical: rofunc.simulator.src.joint_monkey.dof_props
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_props

.. py:data:: num_dofs
   :canonical: rofunc.simulator.src.joint_monkey.num_dofs
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.num_dofs

.. py:data:: dof_states
   :canonical: rofunc.simulator.src.joint_monkey.dof_states
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_states

.. py:data:: dof_types
   :canonical: rofunc.simulator.src.joint_monkey.dof_types
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_types

.. py:data:: dof_positions
   :canonical: rofunc.simulator.src.joint_monkey.dof_positions
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dof_positions

.. py:data:: stiffnesses
   :canonical: rofunc.simulator.src.joint_monkey.stiffnesses
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.stiffnesses

.. py:data:: dampings
   :canonical: rofunc.simulator.src.joint_monkey.dampings
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.dampings

.. py:data:: armatures
   :canonical: rofunc.simulator.src.joint_monkey.armatures
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.armatures

.. py:data:: has_limits
   :canonical: rofunc.simulator.src.joint_monkey.has_limits
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.has_limits

.. py:data:: lower_limits
   :canonical: rofunc.simulator.src.joint_monkey.lower_limits
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.lower_limits

.. py:data:: upper_limits
   :canonical: rofunc.simulator.src.joint_monkey.upper_limits
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.upper_limits

.. py:data:: defaults
   :canonical: rofunc.simulator.src.joint_monkey.defaults
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.defaults

.. py:data:: speeds
   :canonical: rofunc.simulator.src.joint_monkey.speeds
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.speeds

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

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

.. py:data:: num_per_row
   :canonical: rofunc.simulator.src.joint_monkey.num_per_row
   :value: 6

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

.. py:data:: spacing
   :canonical: rofunc.simulator.src.joint_monkey.spacing
   :value: 2.5

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

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

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

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

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

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

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

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

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

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

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

.. py:data:: actor_handles
   :canonical: rofunc.simulator.src.joint_monkey.actor_handles
   :value: []

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.actor_handles

.. py:data:: ANIM_SEEK_LOWER
   :canonical: rofunc.simulator.src.joint_monkey.ANIM_SEEK_LOWER
   :value: 1

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_SEEK_LOWER

.. py:data:: ANIM_SEEK_UPPER
   :canonical: rofunc.simulator.src.joint_monkey.ANIM_SEEK_UPPER
   :value: 2

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_SEEK_UPPER

.. py:data:: ANIM_SEEK_DEFAULT
   :canonical: rofunc.simulator.src.joint_monkey.ANIM_SEEK_DEFAULT
   :value: 3

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_SEEK_DEFAULT

.. py:data:: ANIM_FINISHED
   :canonical: rofunc.simulator.src.joint_monkey.ANIM_FINISHED
   :value: 4

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.ANIM_FINISHED

.. py:data:: anim_state
   :canonical: rofunc.simulator.src.joint_monkey.anim_state
   :value: None

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.anim_state

.. py:data:: current_dof
   :canonical: rofunc.simulator.src.joint_monkey.current_dof
   :value: 0

   .. autodoc2-docstring:: rofunc.simulator.src.joint_monkey.current_dof