rofunc.simulator.src.franka_nut_bolt_ik_osc

`rofunc.simulator.src.franka_nut_bolt_ik_osc`#

NVIDIA CORPORATION and its licensors retain all intellectual property and proprietary rights in and to this software, related documentation and any modifications thereto. Any use, reproduction, disclosure or distribution of this software and related documentation without an express license agreement from NVIDIA CORPORATION is strictly prohibited.

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. Classes#

ScrewFSM

2.2. Functions#

`orientation_error`
`control_ik`

2.4. API#

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.control_ik(dpose, damping, j_eef, num_envs)#

class rofunc.simulator.src.franka_nut_bolt_ik_osc.ScrewFSM(sim_dt, nut_height, bolt_height, screw_speed, screw_limit_angle, device, env_idx)#

Initialization

get_dp_from_target(target_pos, target_quat, hand_pose) → float#

update(nut_pose, bolt_pose, hand_pose, current_gripper_sep)#

property d_pose#

property gripper_separation#

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

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

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

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

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.damping = 0.15#

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

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

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

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

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

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.bolt_file = 'urdf/nut_bolt/bolt_m4_tight_SI_5x.urdf'#

rofunc.simulator.src.franka_nut_bolt_ik_osc.bolt_options = None#

rofunc.simulator.src.franka_nut_bolt_ik_osc.bolt_asset = None#

rofunc.simulator.src.franka_nut_bolt_ik_osc.nut_file = 'urdf/nut_bolt/nut_m4_tight_SI_5x.urdf'#

rofunc.simulator.src.franka_nut_bolt_ik_osc.nut_options = None#

rofunc.simulator.src.franka_nut_bolt_ik_osc.nut_asset = None#

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.bolt_pose = None#

rofunc.simulator.src.franka_nut_bolt_ik_osc.nut_pose = None#

rofunc.simulator.src.franka_nut_bolt_ik_osc.fsm_device = 'cpu'#

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.nut_idxs = []#

rofunc.simulator.src.franka_nut_bolt_ik_osc.bolt_idxs = []#

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.fsms = []#

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

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

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

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

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

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

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

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

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

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

rofunc.simulator.src.franka_nut_bolt_ik_osc.d_pose = None#

rofunc.simulator.src.franka_nut_bolt_ik_osc.grip_sep = None#

`gym`
`custom_parameters`
`args`
`device`
`sim_params`
`damping`
`sim`
`viewer`
`asset_root`
`table_dims`
`asset_options`
`table_asset`
`bolt_file`
`bolt_options`
`bolt_asset`
`nut_file`
`nut_options`
`nut_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`
`bolt_pose`
`nut_pose`
`fsm_device`
`envs`
`nut_idxs`
`bolt_idxs`
`hand_idxs`
`fsms`
`plane_params`
`cam_pos`
`cam_target`
`middle_env`
`jacobian`
`j_eef`
`rb_states`
`dof_states`
`dof_pos`
`pos_action`
`d_pose`
`grip_sep`