rofunc.simulator.src.franka_osc

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1.  Franka Operational Space Control

Operational Space Control of Franka robot to demonstrate Jacobian and Mass Matrix Tensor APIs

2.  Module Contents

2.1.  Functions

orientation_error

2.2.  Data

args
gym
sim_params
sim
viewer
plane_params
asset_root
franka_asset_file
asset_options
franka_asset
franka_dof_props
franka_lower_limits
franka_upper_limits
franka_ranges
franka_mids
franka_num_dofs
default_dof_state
num_envs
num_per_row
spacing
env_lower
env_upper
pose
envs
hand_idxs
init_pos_list
init_orn_list
cam_pos
cam_target
middle_env
init_pos
init_orn
pos_des
orn_des
jacobian
hand_index
j_eef
mm
kp
kv
rb_states
dof_states
dof_vel
dof_pos
itr

2.3.  API

rofunc.simulator.src.franka_osc.orientation_error(desired, current)

rofunc.simulator.src.franka_osc.args = None

rofunc.simulator.src.franka_osc.gym = None

rofunc.simulator.src.franka_osc.sim_params = None

rofunc.simulator.src.franka_osc.sim = None

rofunc.simulator.src.franka_osc.viewer = None

rofunc.simulator.src.franka_osc.plane_params = None

rofunc.simulator.src.franka_osc.asset_root = '../assets'

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

rofunc.simulator.src.franka_osc.asset_options = None

rofunc.simulator.src.franka_osc.franka_asset = None

rofunc.simulator.src.franka_osc.franka_dof_props = None

rofunc.simulator.src.franka_osc.franka_lower_limits = None

rofunc.simulator.src.franka_osc.franka_upper_limits = None

rofunc.simulator.src.franka_osc.franka_ranges = None

rofunc.simulator.src.franka_osc.franka_mids = None

rofunc.simulator.src.franka_osc.franka_num_dofs = None

rofunc.simulator.src.franka_osc.default_dof_state = None

rofunc.simulator.src.franka_osc.num_envs = None

rofunc.simulator.src.franka_osc.num_per_row = None

rofunc.simulator.src.franka_osc.spacing = 1.0

rofunc.simulator.src.franka_osc.env_lower = None

rofunc.simulator.src.franka_osc.env_upper = None

rofunc.simulator.src.franka_osc.pose = None

rofunc.simulator.src.franka_osc.envs = []

rofunc.simulator.src.franka_osc.hand_idxs = []

rofunc.simulator.src.franka_osc.init_pos_list = []

rofunc.simulator.src.franka_osc.init_orn_list = []

rofunc.simulator.src.franka_osc.cam_pos = None

rofunc.simulator.src.franka_osc.cam_target = None

rofunc.simulator.src.franka_osc.middle_env = None

rofunc.simulator.src.franka_osc.init_pos = None

rofunc.simulator.src.franka_osc.init_orn = None

rofunc.simulator.src.franka_osc.pos_des = None

rofunc.simulator.src.franka_osc.orn_des = None

rofunc.simulator.src.franka_osc.jacobian = None

rofunc.simulator.src.franka_osc.hand_index = None

rofunc.simulator.src.franka_osc.j_eef = None

rofunc.simulator.src.franka_osc.mm = None

rofunc.simulator.src.franka_osc.kp = 5

rofunc.simulator.src.franka_osc.kv = None

rofunc.simulator.src.franka_osc.rb_states = None

rofunc.simulator.src.franka_osc.dof_states = None

rofunc.simulator.src.franka_osc.dof_vel = None

rofunc.simulator.src.franka_osc.dof_pos = None

rofunc.simulator.src.franka_osc.itr = 0