rofunc.simulator.src.kuka_bin

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1.  Kuka bin perfromance test

Test simulation perfromance and stability of the robotic arm dealing with a set of complex objects in a bin.

2.  Module Contents

2.1.  Functions

init
update_kuka

2.2.  Data

axes_geom
sphere_rot
sphere_pose
sphere_geom
colors
tray_color
banana_color
brick_color
gym
args
num_envs
num_objects
box_size
sim_type
sim_params
sim
plane_params
viewer
asset_root
table_dims
pose
asset_options
table_pose
bin_pose
object_pose
table_asset
can_asset_file
banana_asset_file
mug_asset_file
brick_asset_file
object_files
object_assets
spawn_height
bin_asset_file
bin_asset
corner
kuka_asset_file
kuka_asset
spacing
env_lower
env_upper
envs
kuka_handles
tray_handles
object_handles
kuka_attractors
attractors_offsets
attractor_handles
num_per_row
base_poses
kuka_dof_props
kuka_lower_limits
kuka_upper_limits
kuka_ranges
kuka_mids
kuka_num_dofs
next_kuka_update_time
frame

2.3.  API

rofunc.simulator.src.kuka_bin.axes_geom = None

rofunc.simulator.src.kuka_bin.sphere_rot = None

rofunc.simulator.src.kuka_bin.sphere_pose = None

rofunc.simulator.src.kuka_bin.sphere_geom = None

rofunc.simulator.src.kuka_bin.colors = None

rofunc.simulator.src.kuka_bin.tray_color = None

rofunc.simulator.src.kuka_bin.banana_color = None

rofunc.simulator.src.kuka_bin.brick_color = None

rofunc.simulator.src.kuka_bin.gym = None

rofunc.simulator.src.kuka_bin.args = None

rofunc.simulator.src.kuka_bin.num_envs = None

rofunc.simulator.src.kuka_bin.num_objects = None

rofunc.simulator.src.kuka_bin.box_size = 0.05

rofunc.simulator.src.kuka_bin.sim_type = None

rofunc.simulator.src.kuka_bin.sim_params = None

rofunc.simulator.src.kuka_bin.sim = None

rofunc.simulator.src.kuka_bin.plane_params = None

rofunc.simulator.src.kuka_bin.viewer = None

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

rofunc.simulator.src.kuka_bin.table_dims = None

rofunc.simulator.src.kuka_bin.pose = None

rofunc.simulator.src.kuka_bin.asset_options = None

rofunc.simulator.src.kuka_bin.table_pose = None

rofunc.simulator.src.kuka_bin.bin_pose = None

rofunc.simulator.src.kuka_bin.object_pose = None

rofunc.simulator.src.kuka_bin.table_asset = None

rofunc.simulator.src.kuka_bin.can_asset_file = 'urdf/ycb/010_potted_meat_can/010_potted_meat_can.urdf'

rofunc.simulator.src.kuka_bin.banana_asset_file = 'urdf/ycb/011_banana/011_banana.urdf'

rofunc.simulator.src.kuka_bin.mug_asset_file = 'urdf/ycb/025_mug/025_mug.urdf'

rofunc.simulator.src.kuka_bin.brick_asset_file = 'urdf/ycb/061_foam_brick/061_foam_brick.urdf'

rofunc.simulator.src.kuka_bin.object_files = []

rofunc.simulator.src.kuka_bin.object_assets = []

rofunc.simulator.src.kuka_bin.spawn_height = None

rofunc.simulator.src.kuka_bin.bin_asset_file = 'urdf/tray/traybox.urdf'

rofunc.simulator.src.kuka_bin.bin_asset = None

rofunc.simulator.src.kuka_bin.corner = None

rofunc.simulator.src.kuka_bin.kuka_asset_file = 'urdf/kuka_allegro_description/kuka_allegro.urdf'

rofunc.simulator.src.kuka_bin.kuka_asset = None

rofunc.simulator.src.kuka_bin.spacing = 1.5

rofunc.simulator.src.kuka_bin.env_lower = None

rofunc.simulator.src.kuka_bin.env_upper = None

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

rofunc.simulator.src.kuka_bin.kuka_handles = []

rofunc.simulator.src.kuka_bin.tray_handles = []

rofunc.simulator.src.kuka_bin.object_handles = []

rofunc.simulator.src.kuka_bin.kuka_attractors = ['iiwa7_link_7']

rofunc.simulator.src.kuka_bin.attractors_offsets = None

rofunc.simulator.src.kuka_bin.attractor_handles = None

rofunc.simulator.src.kuka_bin.num_per_row = None

rofunc.simulator.src.kuka_bin.base_poses = []

rofunc.simulator.src.kuka_bin.kuka_dof_props = None

rofunc.simulator.src.kuka_bin.kuka_lower_limits = None

rofunc.simulator.src.kuka_bin.kuka_upper_limits = None

rofunc.simulator.src.kuka_bin.kuka_ranges = None

rofunc.simulator.src.kuka_bin.kuka_mids = None

rofunc.simulator.src.kuka_bin.kuka_num_dofs = None

rofunc.simulator.src.kuka_bin.init()

rofunc.simulator.src.kuka_bin.update_kuka(t)

rofunc.simulator.src.kuka_bin.next_kuka_update_time = 0.1

rofunc.simulator.src.kuka_bin.frame = 0