StaticManipulatorParams class
Data to configure a static manipulator.
Special methods
- def __init__(self, arm_joints: typing.List[int], gripper_joints: typing.List[int], arm_init_params: typing.Optional[numpy.ndarray], gripper_init_params: typing.Optional[numpy.ndarray], ee_offset: typing.List[_magnum.Vector3], ee_links: typing.List[int], ee_constraint: numpy.ndarray, gripper_closed_state: numpy.ndarray, gripper_open_state: numpy.ndarray, gripper_state_eps: float, arm_mtr_pos_gain: float, arm_mtr_vel_gain: float, arm_mtr_max_impulse: float, ee_count: typing.Optional[int] = 1) -> None
- Method generated by attrs for class StaticManipulatorParams.
Properties
- arm_init_params: typing.Optional[numpy.ndarray] get set del
- The starting joint angles of the arm. If None, resets to 0.
- arm_joints: typing.List[int] get set del
- The joint ids of the arm joints.
- arm_mtr_max_impulse: float get set del
- The maximum impulse of the arm motor.
- arm_mtr_pos_gain: float get set del
- The position gain of the arm motor.
- arm_mtr_vel_gain: float get set del
- The velocity gain of the arm motor.
- ee_constraint: numpy.ndarray get set del
- A (ee_count, 2, N) shaped array specifying the upper and lower limits for each end-effector joint where N is the arm DOF.
- ee_count: typing.Optional[int] get set del
- how many end effectors
- ee_links: typing.List[int] get set del
- A list with the Habitat Sim link ID of the end-effector.
- ee_offset: typing.List[_magnum.Vector3] get set del
- The 3D offset from the end-effector link to the true end-effector position.
- gripper_closed_state: numpy.ndarray get set del
- All gripper joints must achieve this state for the gripper to be considered closed.
- gripper_init_params: typing.Optional[numpy.ndarray] get set del
- The starting joint positions of the gripper. If None, resets to 0.
- gripper_joints: typing.List[int] get set del
- The habitat sim joint ids of any grippers.
- gripper_open_state: numpy.ndarray get set del
- All gripper joints must achieve this state for the gripper to be considered open.
- gripper_state_eps: float get set del
- Error margin for detecting whether gripper is closed.