rofunc.simulator.src.joint_monkey#

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1.  Joint Monkey#

  • Animates degree-of-freedom ranges for a given asset.

  • Demonstrates usage of DOF properties and states.

  • Demonstrates line drawing utilities to visualize DOF frames (origin and axis).

2.  Module Contents#

2.1.  Classes#

AssetDesc

2.2.  Functions#

clamp

2.3.  Data#

asset_descriptors

args

gym

sim_params

sim

plane_params

viewer

asset_root

asset_file

asset_options

asset

dof_names

dof_props

num_dofs

dof_states

dof_types

dof_positions

stiffnesses

dampings

armatures

has_limits

lower_limits

upper_limits

defaults

speeds

num_envs

num_per_row

spacing

env_lower

env_upper

cam_pos

cam_target

envs

actor_handles

ANIM_SEEK_LOWER

ANIM_SEEK_UPPER

ANIM_SEEK_DEFAULT

ANIM_FINISHED

anim_state

current_dof

2.4.  API#

rofunc.simulator.src.joint_monkey.clamp(x, min_value, max_value)#
class rofunc.simulator.src.joint_monkey.AssetDesc(file_name, flip_visual_attachments=False)#

Initialization

rofunc.simulator.src.joint_monkey.asset_descriptors = None#
rofunc.simulator.src.joint_monkey.args = None#
rofunc.simulator.src.joint_monkey.gym = None#
rofunc.simulator.src.joint_monkey.sim_params = None#
rofunc.simulator.src.joint_monkey.sim = None#
rofunc.simulator.src.joint_monkey.plane_params = None#
rofunc.simulator.src.joint_monkey.viewer = None#
rofunc.simulator.src.joint_monkey.asset_root = '../assets'#
rofunc.simulator.src.joint_monkey.asset_file = None#
rofunc.simulator.src.joint_monkey.asset_options = None#
rofunc.simulator.src.joint_monkey.asset = None#
rofunc.simulator.src.joint_monkey.dof_names = None#
rofunc.simulator.src.joint_monkey.dof_props = None#
rofunc.simulator.src.joint_monkey.num_dofs = None#
rofunc.simulator.src.joint_monkey.dof_states = None#
rofunc.simulator.src.joint_monkey.dof_types = None#
rofunc.simulator.src.joint_monkey.dof_positions = None#
rofunc.simulator.src.joint_monkey.stiffnesses = None#
rofunc.simulator.src.joint_monkey.dampings = None#
rofunc.simulator.src.joint_monkey.armatures = None#
rofunc.simulator.src.joint_monkey.has_limits = None#
rofunc.simulator.src.joint_monkey.lower_limits = None#
rofunc.simulator.src.joint_monkey.upper_limits = None#
rofunc.simulator.src.joint_monkey.defaults = None#
rofunc.simulator.src.joint_monkey.speeds = None#
rofunc.simulator.src.joint_monkey.num_envs = 36#
rofunc.simulator.src.joint_monkey.num_per_row = 6#
rofunc.simulator.src.joint_monkey.spacing = 2.5#
rofunc.simulator.src.joint_monkey.env_lower = None#
rofunc.simulator.src.joint_monkey.env_upper = None#
rofunc.simulator.src.joint_monkey.cam_pos = None#
rofunc.simulator.src.joint_monkey.cam_target = None#
rofunc.simulator.src.joint_monkey.envs = []#
rofunc.simulator.src.joint_monkey.actor_handles = []#
rofunc.simulator.src.joint_monkey.ANIM_SEEK_LOWER = 1#
rofunc.simulator.src.joint_monkey.ANIM_SEEK_UPPER = 2#
rofunc.simulator.src.joint_monkey.ANIM_SEEK_DEFAULT = 3#
rofunc.simulator.src.joint_monkey.ANIM_FINISHED = 4#
rofunc.simulator.src.joint_monkey.anim_state = None#
rofunc.simulator.src.joint_monkey.current_dof = 0#