agimus_sot.task.end_effector.EndEffector Class Reference

Control of the gripper motors. More...

Inheritance diagram for agimus_sot.task.end_effector.EndEffector:
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Collaboration diagram for agimus_sot.task.end_effector.EndEffector:
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Public Member Functions

def __init__ (self, sotrobot, gripper, name_suffix)
 
def makeAdmittanceControl (self, affordance, type, period, simulateTorqueFeedback=False, filterCurrents=True)
 
def makePositionControl (self, position)
 
- Public Member Functions inherited from agimus_sot.task.task.Task
def __init__ (self, tasks=[], constraints=[], topics={})
 
def __add__ (self, other)
 
def __iadd__ (self, other)
 
def setControlSelection (self, selection)
 
def pushTo (self, solver)
 
def extendSignalGetters (self, topicName, signalGetters)
 
def addHppJointTopic (self, topicName, jointName=None, velocity=False, signalGetters=frozenset())
 
def addTfListenerTopic (self, topicName, frame0, frame1, defaultValue=None, signalGetters=frozenset(), maxDelay=1.5)
 
def makeTfListenerDefaultValue (self, name, value, outputs=None)
 Create an If entity whose condition is the transform was found in TF. More...
 

Public Attributes

 gripper
 
 jointNames
 
 robot
 
 name
 
 tp
 
 jointRanks
 
 tasks
 
 thr_task_error
 
 ac
 
 events
 
- Public Attributes inherited from agimus_sot.task.task.Task
 tasks
 Task to be added to a SoT solver. More...
 
 constraints
 Constraints This is likely not used anymore. More...
 
 topics
 The ROS topics where to read references. More...
 

Static Public Attributes

string name_prefix = "ee"
 
- Static Public Attributes inherited from agimus_sot.task.task.Task
string sep = "___"
 

Detailed Description

Control of the gripper motors.

It can do:

  • position control
  • admittance control
  • a mixture between position and admittance control (position control before the impact, then admittance control).
    Todo:
    At the time of writting, I (Joseph Mirabel) think the mixtured control is bugged. At least, there was a SEGV the last time I tried to use it. However, the SEGV might have a different cause.

Constructor & Destructor Documentation

◆ __init__()

def agimus_sot.task.end_effector.EndEffector.__init__ (   self,
  sotrobot,
  gripper,
  name_suffix 
)

Member Function Documentation

◆ makeAdmittanceControl()

def agimus_sot.task.end_effector.EndEffector.makeAdmittanceControl (   self,
  affordance,
  type,
  period,
  simulateTorqueFeedback = False,
  filterCurrents = True 
)
Parameters
typeequals "open" or "close"
periodinterval between two integration of SoT

◆ makePositionControl()

Member Data Documentation

◆ ac

agimus_sot.task.end_effector.EndEffector.ac

◆ events

agimus_sot.task.end_effector.EndEffector.events

◆ gripper

◆ jointNames

agimus_sot.task.end_effector.EndEffector.jointNames

◆ jointRanks

agimus_sot.task.end_effector.EndEffector.jointRanks

◆ name

◆ name_prefix

string agimus_sot.task.end_effector.EndEffector.name_prefix = "ee"
static

◆ robot

agimus_sot.task.end_effector.EndEffector.robot

◆ tasks

◆ thr_task_error

agimus_sot.task.end_effector.EndEffector.thr_task_error

◆ tp

agimus_sot.task.end_effector.EndEffector.tp