Control of the gripper motors. More...
Public Member Functions | |
def | __init__ (self, sotrobot, gripper, name_suffix) |
def | makeAdmittanceControl (self, affordance, type, period, simulateTorqueFeedback=False, filterCurrents=True) |
def | makePositionControl (self, position) |
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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 | |
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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" |
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string | sep = "___" |
Control of the gripper motors.
It can do:
def agimus_sot.task.end_effector.EndEffector.__init__ | ( | self, | |
sotrobot, | |||
gripper, | |||
name_suffix | |||
) |
def agimus_sot.task.end_effector.EndEffector.makeAdmittanceControl | ( | self, | |
affordance, | |||
type, | |||
period, | |||
simulateTorqueFeedback = False , |
|||
filterCurrents = True |
|||
) |
type | equals "open" or "close" |
period | interval between two integration of SoT |
def agimus_sot.task.end_effector.EndEffector.makePositionControl | ( | self, | |
position | |||
) |
References agimus_sot.task.end_effector.EndEffector.events, agimus_sot.task.end_effector.EndEffector.jointRanks, agimus_sot.control.controllers.Controller.name, agimus_sot.control.gripper.AdmittanceControl.name, agimus_sot.task.end_effector.EndEffector.name, agimus_sot.events.Events.name, agimus_sot.factory.Factory.State.name, agimus_sot.task.end_effector.EndEffector.thr_task_error, and agimus_sot.task.end_effector.EndEffector.tp.
agimus_sot.task.end_effector.EndEffector.ac |
agimus_sot.task.end_effector.EndEffector.events |
agimus_sot.task.end_effector.EndEffector.gripper |
agimus_sot.task.end_effector.EndEffector.jointNames |
agimus_sot.task.end_effector.EndEffector.jointRanks |
agimus_sot.task.end_effector.EndEffector.name |
|
static |
Referenced by agimus_sot.task.task.Task.makeTfListenerDefaultValue().
agimus_sot.task.end_effector.EndEffector.robot |
agimus_sot.task.end_effector.EndEffector.tasks |
agimus_sot.task.end_effector.EndEffector.thr_task_error |
agimus_sot.task.end_effector.EndEffector.tp |