rofunc.simulator.src.franka_cube_ik_osc

`rofunc.simulator.src.franka_cube_ik_osc`#

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1. Franka Cube Pick#

Use Jacobian matrix and inverse kinematics control of Franka robot to pick up a box. Damped Least Squares method from: https://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf

2. Module Contents#

2.1. Functions#

`quat_axis`
`orientation_error`
`cube_grasping_yaw`	returns horizontal rotation required to grasp cube
`control_ik`
`control_osc`

2.2. Data#

`gym`
`custom_parameters`
`args`
`controller`
`device`
`sim_params`
`damping`
`kp`
`kd`
`kp_null`
`kd_null`
`sim`
`viewer`
`asset_root`
`table_dims`
`asset_options`
`table_asset`
`box_size`
`box_asset`
`franka_asset_file`
`franka_asset`
`franka_dof_props`
`franka_lower_limits`
`franka_upper_limits`
`franka_ranges`
`franka_mids`
`franka_num_dofs`
`default_dof_pos`
`default_dof_state`
`default_dof_pos_tensor`
`franka_link_dict`
`franka_hand_index`
`num_envs`
`num_per_row`
`spacing`
`env_lower`
`env_upper`
`franka_pose`
`table_pose`
`box_pose`
`envs`
`box_idxs`
`hand_idxs`
`init_pos_list`
`init_rot_list`
`plane_params`
`cam_pos`
`cam_target`
`middle_env`
`init_pos`
`init_rot`
`down_q`
`box_half_size`
`corner_coord`
`corners`
`down_dir`
`jacobian`
`j_eef`
`mm`
`rb_states`
`dof_states`
`dof_pos`
`dof_vel`
`hand_restart`
`pos_action`
`effort_action`

2.3. API#

rofunc.simulator.src.franka_cube_ik_osc.quat_axis(q, axis=0)#

rofunc.simulator.src.franka_cube_ik_osc.orientation_error(desired, current)#

rofunc.simulator.src.franka_cube_ik_osc.cube_grasping_yaw(q, corners)#: returns horizontal rotation required to grasp cube

rofunc.simulator.src.franka_cube_ik_osc.control_ik(dpose)#

rofunc.simulator.src.franka_cube_ik_osc.control_osc(dpose)#

rofunc.simulator.src.franka_cube_ik_osc.gym = None#

rofunc.simulator.src.franka_cube_ik_osc.custom_parameters = None#

rofunc.simulator.src.franka_cube_ik_osc.args = None#

rofunc.simulator.src.franka_cube_ik_osc.controller = None#

rofunc.simulator.src.franka_cube_ik_osc.device = None#

rofunc.simulator.src.franka_cube_ik_osc.sim_params = None#

rofunc.simulator.src.franka_cube_ik_osc.damping = 0.05#

rofunc.simulator.src.franka_cube_ik_osc.kp = 150.0#

rofunc.simulator.src.franka_cube_ik_osc.kd = None#

rofunc.simulator.src.franka_cube_ik_osc.kp_null = 10.0#

rofunc.simulator.src.franka_cube_ik_osc.kd_null = None#

rofunc.simulator.src.franka_cube_ik_osc.sim = None#

rofunc.simulator.src.franka_cube_ik_osc.viewer = None#

rofunc.simulator.src.franka_cube_ik_osc.asset_root = '../assets'#

rofunc.simulator.src.franka_cube_ik_osc.table_dims = None#

rofunc.simulator.src.franka_cube_ik_osc.asset_options = None#

rofunc.simulator.src.franka_cube_ik_osc.table_asset = None#

rofunc.simulator.src.franka_cube_ik_osc.box_size = 0.045#

rofunc.simulator.src.franka_cube_ik_osc.box_asset = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_asset_file = 'urdf/franka_description/robots/franka_panda.urdf'#

rofunc.simulator.src.franka_cube_ik_osc.franka_asset = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_dof_props = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_lower_limits = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_upper_limits = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_ranges = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_mids = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_num_dofs = None#

rofunc.simulator.src.franka_cube_ik_osc.default_dof_pos = None#

rofunc.simulator.src.franka_cube_ik_osc.default_dof_state = None#

rofunc.simulator.src.franka_cube_ik_osc.default_dof_pos_tensor = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_link_dict = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_hand_index = None#

rofunc.simulator.src.franka_cube_ik_osc.num_envs = None#

rofunc.simulator.src.franka_cube_ik_osc.num_per_row = None#

rofunc.simulator.src.franka_cube_ik_osc.spacing = 1.0#

rofunc.simulator.src.franka_cube_ik_osc.env_lower = None#

rofunc.simulator.src.franka_cube_ik_osc.env_upper = None#

rofunc.simulator.src.franka_cube_ik_osc.franka_pose = None#

rofunc.simulator.src.franka_cube_ik_osc.table_pose = None#

rofunc.simulator.src.franka_cube_ik_osc.box_pose = None#

rofunc.simulator.src.franka_cube_ik_osc.envs = []#

rofunc.simulator.src.franka_cube_ik_osc.box_idxs = []#

rofunc.simulator.src.franka_cube_ik_osc.hand_idxs = []#

rofunc.simulator.src.franka_cube_ik_osc.init_pos_list = []#

rofunc.simulator.src.franka_cube_ik_osc.init_rot_list = []#

rofunc.simulator.src.franka_cube_ik_osc.plane_params = None#

rofunc.simulator.src.franka_cube_ik_osc.cam_pos = None#

rofunc.simulator.src.franka_cube_ik_osc.cam_target = None#

rofunc.simulator.src.franka_cube_ik_osc.middle_env = None#

rofunc.simulator.src.franka_cube_ik_osc.init_pos = None#

rofunc.simulator.src.franka_cube_ik_osc.init_rot = None#

rofunc.simulator.src.franka_cube_ik_osc.down_q = None#

rofunc.simulator.src.franka_cube_ik_osc.box_half_size = None#

rofunc.simulator.src.franka_cube_ik_osc.corner_coord = None#

rofunc.simulator.src.franka_cube_ik_osc.corners = None#

rofunc.simulator.src.franka_cube_ik_osc.down_dir = None#

rofunc.simulator.src.franka_cube_ik_osc.jacobian = None#

rofunc.simulator.src.franka_cube_ik_osc.j_eef = None#

rofunc.simulator.src.franka_cube_ik_osc.mm = None#

rofunc.simulator.src.franka_cube_ik_osc.rb_states = None#

rofunc.simulator.src.franka_cube_ik_osc.dof_states = None#

rofunc.simulator.src.franka_cube_ik_osc.dof_pos = None#

rofunc.simulator.src.franka_cube_ik_osc.dof_vel = None#

rofunc.simulator.src.franka_cube_ik_osc.hand_restart = None#

rofunc.simulator.src.franka_cube_ik_osc.pos_action = None#

rofunc.simulator.src.franka_cube_ik_osc.effort_action = None#