Affordance between a gripper and a handle. More...
Public Member Functions | |
def | __init__ (self, gripper, handle, openControlType, closeControlType, refs, controlParams={}, simuParams={}) |
Constructor. More... | |
def | setControl (self, refOpen, refClose, openType="position", closeType="position") |
Very likely never used but who knows... More... | |
def | getControlParameter (self) |
Get position control parameter. More... | |
def | getSimulationParameters (self) |
Simulation parameters. More... | |
def | useMeasurementOfGripperPose (self, gripperFrame) |
def | useMeasurementOfObjectPose (self, handleFrame) |
Public Attributes | |
gripper | |
handle | |
controlType | |
ref | |
controlParams | |
simuParams | |
Affordance between a gripper and a handle.
This class allows to tune the behaviour of the robot when grasping of releasing an object. There are several behaviour already implemented.
def agimus_sot.factory.Affordance.__init__ | ( | self, | |
gripper, | |||
handle, | |||
openControlType, | |||
closeControlType, | |||
refs, | |||
controlParams = {} , |
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simuParams = {} |
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) |
Constructor.
gripper | name of the gripper |
handle | name of the handle |
openControlType,closeControlType | control type for releasing and grasping the object. Must be one of "position" , "torque" or "position_torque" |
refs | a dictionnary of reference values. Keys should be "angle_open" , "angle_close" and "torque" ) |
controlParams | parameters of the control: |
simuParams | parameters of the torque feedback simulation. |
Control parameters depend on the control type.
"position"
, no parameters. "torque"
, see control.AdmittanceControl constructor (torque_num, torque_denom) "position_torque"
, see control.PositionAndAdmittanceControl constructor. (wn, z, torque_num, torque_denom) def agimus_sot.factory.Affordance.getControlParameter | ( | self | ) |
Get position control parameter.
References agimus_sot.factory.Affordance.controlParams.
def agimus_sot.factory.Affordance.getSimulationParameters | ( | self | ) |
Simulation parameters.
self.ref
["angle_close"] References agimus_sot.factory.Affordance.ref, and agimus_sot.factory.Affordance.simuParams.
def agimus_sot.factory.Affordance.setControl | ( | self, | |
refOpen, | |||
refClose, | |||
openType = "position" , |
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closeType = "position" |
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) |
Very likely never used but who knows...
References agimus_sot.factory.Affordance.controlType, and agimus_sot.factory.Affordance.ref.
def agimus_sot.factory.Affordance.useMeasurementOfGripperPose | ( | self, | |
gripperFrame | |||
) |
For instance, via an attribute disableGripperVisualFeedback
def agimus_sot.factory.Affordance.useMeasurementOfObjectPose | ( | self, | |
handleFrame | |||
) |
For instance, via an attribute disableObjectVisualFeedback
agimus_sot.factory.Affordance.controlParams |
Referenced by agimus_sot.factory.Affordance.getControlParameter().
agimus_sot.factory.Affordance.controlType |
Referenced by agimus_sot.factory.Affordance.setControl().
agimus_sot.factory.Affordance.gripper |
agimus_sot.factory.Affordance.handle |
Referenced by agimus_sot.task.grasp.Grasp.makeTasks().
agimus_sot.factory.Affordance.ref |
agimus_sot.factory.Affordance.simuParams |
Referenced by agimus_sot.factory.Affordance.getSimulationParameters().