rofunc.simulator.src.spherical_joint

`rofunc.simulator.src.spherical_joint`#

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1. Spherical Joint#

Demonstrates usage of spherical joints.

2. Module Contents#

2.1. Classes#

AssetDesc

2.2. Functions#

`clamp`
`random_quaternion`	Random quaternion of the form (x, y, z, w).
`quat2expcoord`	Converts quaternion to exponential coordinates.

2.4. API#

rofunc.simulator.src.spherical_joint.clamp(x, min_value, max_value)#

class rofunc.simulator.src.spherical_joint.AssetDesc(file_name, flip_visual_attachments=False)#: Initialization

rofunc.simulator.src.spherical_joint.asset_descriptors = None#

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

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

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

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

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

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

rofunc.simulator.src.spherical_joint.asset_file = None#

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

rofunc.simulator.src.spherical_joint.asset = None#

rofunc.simulator.src.spherical_joint.dof_names = None#

rofunc.simulator.src.spherical_joint.dof_props = None#

rofunc.simulator.src.spherical_joint.num_dofs = None#

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

rofunc.simulator.src.spherical_joint.dof_types = None#

rofunc.simulator.src.spherical_joint.dof_positions = None#

rofunc.simulator.src.spherical_joint.stiffnesses = None#

rofunc.simulator.src.spherical_joint.dampings = None#

rofunc.simulator.src.spherical_joint.armatures = None#

rofunc.simulator.src.spherical_joint.has_limits = None#

rofunc.simulator.src.spherical_joint.lower_limits = None#

rofunc.simulator.src.spherical_joint.upper_limits = None#

rofunc.simulator.src.spherical_joint.defaults = None#

rofunc.simulator.src.spherical_joint.num_envs = 1#

rofunc.simulator.src.spherical_joint.num_per_row = 6#

rofunc.simulator.src.spherical_joint.spacing = 2.5#

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

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

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

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

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

rofunc.simulator.src.spherical_joint.actor_handles = []#

rofunc.simulator.src.spherical_joint.random_quaternion()#

Random quaternion of the form (x, y, z, w).

Returns:: np.ndarray: 4-element array.

rofunc.simulator.src.spherical_joint.quat2expcoord(q)#

Converts quaternion to exponential coordinates.

Args:: q (np.ndarray): Quaternion as a 4-element array of the form [x, y, z, w].
Returns:: np.ndarray: Exponential coordinate as 3-element array.

rofunc.simulator.src.spherical_joint.axes_geom = None#

rofunc.simulator.src.spherical_joint.cnt = 0#

`asset_descriptors`
`args`
`gym`
`sim_params`
`sim`
`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`
`num_envs`
`num_per_row`
`spacing`
`env_lower`
`env_upper`
`cam_pos`
`cam_target`
`envs`
`actor_handles`
`axes_geom`
`cnt`