agimus_sot.factory.Affordance Class Reference

Affordance between a gripper and a handle. More...

Inheritance diagram for agimus_sot.factory.Affordance:
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Collaboration diagram for agimus_sot.factory.Affordance:
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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
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ __init__()

def agimus_sot.factory.Affordance.__init__ (   self,
  gripper,
  handle,
  openControlType,
  closeControlType,
  refs,
  controlParams = {},
  simuParams = {} 
)

Constructor.

Parameters
grippername of the gripper
handlename of the handle
openControlType,closeControlTypecontrol type for releasing and grasping the object. Must be one of "position", "torque" or "position_torque"
refsa dictionnary of reference values. Keys should be "angle_open", "angle_close" and "torque")
controlParamsparameters of the control:
simuParamsparameters of the torque feedback simulation.

Control parameters depend on the control type.

  • For "position", no parameters.
  • For "torque", see control.AdmittanceControl constructor (torque_num, torque_denom)
  • For "position_torque", see control.PositionAndAdmittanceControl constructor. (wn, z, torque_num, torque_denom)

Member Function Documentation

◆ getControlParameter()

def agimus_sot.factory.Affordance.getControlParameter (   self)

Get position control parameter.

References agimus_sot.factory.Affordance.controlParams.

◆ getSimulationParameters()

def agimus_sot.factory.Affordance.getSimulationParameters (   self)

Simulation parameters.

  • mass defaults to 0.
  • damping defaults to 5.
  • spring defaults to 100.
  • refPos defaults to self.ref["angle_close"]

References agimus_sot.factory.Affordance.ref, and agimus_sot.factory.Affordance.simuParams.

◆ setControl()

def agimus_sot.factory.Affordance.setControl (   self,
  refOpen,
  refClose,
  openType = "position",
  closeType = "position" 
)

Very likely never used but who knows...

Todo:
remove me

References agimus_sot.factory.Affordance.controlType, and agimus_sot.factory.Affordance.ref.

◆ useMeasurementOfGripperPose()

def agimus_sot.factory.Affordance.useMeasurementOfGripperPose (   self,
  gripperFrame 
)
Todo:
Provide a way of fine granularity visual feedback specification.

For instance, via an attribute disableGripperVisualFeedback

◆ useMeasurementOfObjectPose()

def agimus_sot.factory.Affordance.useMeasurementOfObjectPose (   self,
  handleFrame 
)
Todo:
Provide a way of fine granularity visual feedback specification.

For instance, via an attribute disableObjectVisualFeedback

Member Data Documentation

◆ controlParams

agimus_sot.factory.Affordance.controlParams

◆ controlType

agimus_sot.factory.Affordance.controlType

◆ gripper

◆ handle

agimus_sot.factory.Affordance.handle

◆ ref

◆ simuParams

agimus_sot.factory.Affordance.simuParams