robot_fingers

• robot_fingers package
  • FingerConfig
    • FingerConfig.CalibrationParameters
      • FingerConfig.CalibrationParameters.endstop_search_torques_Nm
      • FingerConfig.CalibrationParameters.move_steps
    • FingerConfig.PositionControlGains
      • FingerConfig.PositionControlGains.kd
      • FingerConfig.PositionControlGains.kp
    • FingerConfig.TrajectoryStep
      • FingerConfig.TrajectoryStep.move_steps
      • FingerConfig.TrajectoryStep.target_position_rad
    • FingerConfig.calibration
    • FingerConfig.can_ports
    • FingerConfig.hard_position_limits_lower
    • FingerConfig.hard_position_limits_upper
    • FingerConfig.has_endstop
    • FingerConfig.home_offset_rad
    • FingerConfig.initial_position_rad
    • FingerConfig.is_within_hard_position_limits()
    • FingerConfig.load_config()
    • FingerConfig.max_current_A
    • FingerConfig.move_to_position_tolerance_rad
    • FingerConfig.position_control_gains
    • FingerConfig.print()
    • FingerConfig.safety_kd
    • FingerConfig.shutdown_trajectory
    • FingerConfig.soft_position_limits_lower
    • FingerConfig.soft_position_limits_upper
  • OneJointConfig
    • OneJointConfig.CalibrationParameters
      • OneJointConfig.CalibrationParameters.endstop_search_torques_Nm
      • OneJointConfig.CalibrationParameters.move_steps
    • OneJointConfig.PositionControlGains
      • OneJointConfig.PositionControlGains.kd
      • OneJointConfig.PositionControlGains.kp
    • OneJointConfig.TrajectoryStep
      • OneJointConfig.TrajectoryStep.move_steps
      • OneJointConfig.TrajectoryStep.target_position_rad
    • OneJointConfig.calibration
    • OneJointConfig.can_ports
    • OneJointConfig.hard_position_limits_lower
    • OneJointConfig.hard_position_limits_upper
    • OneJointConfig.has_endstop
    • OneJointConfig.home_offset_rad
    • OneJointConfig.initial_position_rad
    • OneJointConfig.is_within_hard_position_limits()
    • OneJointConfig.load_config()
    • OneJointConfig.max_current_A
    • OneJointConfig.move_to_position_tolerance_rad
    • OneJointConfig.position_control_gains
    • OneJointConfig.print()
    • OneJointConfig.safety_kd
    • OneJointConfig.shutdown_trajectory
    • OneJointConfig.soft_position_limits_lower
    • OneJointConfig.soft_position_limits_upper
  • Robot
    • Robot.create_by_name()
    • Robot.frontend
    • Robot.get_supported_robots()
    • Robot.initialize()
    • Robot.logger
  • SoloEightConfig
    • SoloEightConfig.CalibrationParameters
      • SoloEightConfig.CalibrationParameters.endstop_search_torques_Nm
      • SoloEightConfig.CalibrationParameters.move_steps
    • SoloEightConfig.PositionControlGains
      • SoloEightConfig.PositionControlGains.kd
      • SoloEightConfig.PositionControlGains.kp
    • SoloEightConfig.TrajectoryStep
      • SoloEightConfig.TrajectoryStep.move_steps
      • SoloEightConfig.TrajectoryStep.target_position_rad
    • SoloEightConfig.calibration
    • SoloEightConfig.can_ports
    • SoloEightConfig.hard_position_limits_lower
    • SoloEightConfig.hard_position_limits_upper
    • SoloEightConfig.has_endstop
    • SoloEightConfig.home_offset_rad
    • SoloEightConfig.initial_position_rad
    • SoloEightConfig.is_within_hard_position_limits()
    • SoloEightConfig.load_config()
    • SoloEightConfig.max_current_A
    • SoloEightConfig.move_to_position_tolerance_rad
    • SoloEightConfig.position_control_gains
    • SoloEightConfig.print()
    • SoloEightConfig.safety_kd
    • SoloEightConfig.shutdown_trajectory
    • SoloEightConfig.soft_position_limits_lower
    • SoloEightConfig.soft_position_limits_upper
  • TriFingerConfig
    • TriFingerConfig.CalibrationParameters
      • TriFingerConfig.CalibrationParameters.endstop_search_torques_Nm
      • TriFingerConfig.CalibrationParameters.move_steps
    • TriFingerConfig.PositionControlGains
      • TriFingerConfig.PositionControlGains.kd
      • TriFingerConfig.PositionControlGains.kp
    • TriFingerConfig.TrajectoryStep
      • TriFingerConfig.TrajectoryStep.move_steps
      • TriFingerConfig.TrajectoryStep.target_position_rad
    • TriFingerConfig.calibration
    • TriFingerConfig.can_ports
    • TriFingerConfig.hard_position_limits_lower
    • TriFingerConfig.hard_position_limits_upper
    • TriFingerConfig.has_endstop
    • TriFingerConfig.home_offset_rad
    • TriFingerConfig.initial_position_rad
    • TriFingerConfig.is_within_hard_position_limits()
    • TriFingerConfig.load_config()
    • TriFingerConfig.max_current_A
    • TriFingerConfig.move_to_position_tolerance_rad
    • TriFingerConfig.position_control_gains
    • TriFingerConfig.print()
    • TriFingerConfig.safety_kd
    • TriFingerConfig.shutdown_trajectory
    • TriFingerConfig.soft_position_limits_lower
    • TriFingerConfig.soft_position_limits_upper
  • TriFingerPlatformFrontend
    • TriFingerPlatformFrontend.Action
      • TriFingerPlatformFrontend.Action.position
      • TriFingerPlatformFrontend.Action.position_kd
      • TriFingerPlatformFrontend.Action.position_kp
      • TriFingerPlatformFrontend.Action.torque
    • TriFingerPlatformFrontend.append_desired_action()
    • TriFingerPlatformFrontend.get_applied_action()
    • TriFingerPlatformFrontend.get_camera_observation()
    • TriFingerPlatformFrontend.get_current_timeindex()
    • TriFingerPlatformFrontend.get_desired_action()
    • TriFingerPlatformFrontend.get_robot_observation()
    • TriFingerPlatformFrontend.get_robot_status()
    • TriFingerPlatformFrontend.get_timestamp_ms()
    • TriFingerPlatformFrontend.wait_until_timeindex()
  • TriFingerPlatformLog
    • TriFingerPlatformLog.get_applied_action()
    • TriFingerPlatformLog.get_camera_log()
    • TriFingerPlatformLog.get_camera_observation()
    • TriFingerPlatformLog.get_desired_action()
    • TriFingerPlatformLog.get_first_timeindex()
    • TriFingerPlatformLog.get_last_timeindex()
    • TriFingerPlatformLog.get_map_robot_to_camera_index()
    • TriFingerPlatformLog.get_robot_log()
    • TriFingerPlatformLog.get_robot_observation()
    • TriFingerPlatformLog.get_robot_status()
    • TriFingerPlatformLog.get_timestamp_ms()
  • TriFingerPlatformWithObjectFrontend
    • TriFingerPlatformWithObjectFrontend.Action
      • TriFingerPlatformWithObjectFrontend.Action.position
      • TriFingerPlatformWithObjectFrontend.Action.position_kd
      • TriFingerPlatformWithObjectFrontend.Action.position_kp
      • TriFingerPlatformWithObjectFrontend.Action.torque
    • TriFingerPlatformWithObjectFrontend.append_desired_action()
    • TriFingerPlatformWithObjectFrontend.get_applied_action()
    • TriFingerPlatformWithObjectFrontend.get_camera_observation()
    • TriFingerPlatformWithObjectFrontend.get_current_timeindex()
    • TriFingerPlatformWithObjectFrontend.get_desired_action()
    • TriFingerPlatformWithObjectFrontend.get_robot_observation()
    • TriFingerPlatformWithObjectFrontend.get_robot_status()
    • TriFingerPlatformWithObjectFrontend.get_timestamp_ms()
    • TriFingerPlatformWithObjectFrontend.wait_until_timeindex()
  • TriFingerPlatformWithObjectLog
    • TriFingerPlatformWithObjectLog.get_applied_action()
    • TriFingerPlatformWithObjectLog.get_camera_log()
    • TriFingerPlatformWithObjectLog.get_camera_observation()
    • TriFingerPlatformWithObjectLog.get_desired_action()
    • TriFingerPlatformWithObjectLog.get_first_timeindex()
    • TriFingerPlatformWithObjectLog.get_last_timeindex()
    • TriFingerPlatformWithObjectLog.get_map_robot_to_camera_index()
    • TriFingerPlatformWithObjectLog.get_robot_log()
    • TriFingerPlatformWithObjectLog.get_robot_observation()
    • TriFingerPlatformWithObjectLog.get_robot_status()
    • TriFingerPlatformWithObjectLog.get_timestamp_ms()
  • TwoJointConfig
    • TwoJointConfig.CalibrationParameters
      • TwoJointConfig.CalibrationParameters.endstop_search_torques_Nm
      • TwoJointConfig.CalibrationParameters.move_steps
    • TwoJointConfig.PositionControlGains
      • TwoJointConfig.PositionControlGains.kd
      • TwoJointConfig.PositionControlGains.kp
    • TwoJointConfig.TrajectoryStep
      • TwoJointConfig.TrajectoryStep.move_steps
      • TwoJointConfig.TrajectoryStep.target_position_rad
    • TwoJointConfig.calibration
    • TwoJointConfig.can_ports
    • TwoJointConfig.hard_position_limits_lower
    • TwoJointConfig.hard_position_limits_upper
    • TwoJointConfig.has_endstop
    • TwoJointConfig.home_offset_rad
    • TwoJointConfig.initial_position_rad
    • TwoJointConfig.is_within_hard_position_limits()
    • TwoJointConfig.load_config()
    • TwoJointConfig.max_current_A
    • TwoJointConfig.move_to_position_tolerance_rad
    • TwoJointConfig.position_control_gains
    • TwoJointConfig.print()
    • TwoJointConfig.safety_kd
    • TwoJointConfig.shutdown_trajectory
    • TwoJointConfig.soft_position_limits_lower
    • TwoJointConfig.soft_position_limits_upper
  • create_fake_finger_backend()
  • create_one_joint_backend()
  • create_real_finger_backend()
  • create_solo_eight_backend()
  • create_trifinger_backend()
  • create_two_joint_backend()
  • demo_print_position()
  • Subpackages
    • robot_fingers.ros package
      • NotificationNode
  • Submodules
    • robot_fingers.curses module
      • SimpleCursesGUI
    • robot_fingers.py_one_joint module
      • OneJointConfig
      • create_one_joint_backend()
    • robot_fingers.py_real_finger module
      • FingerConfig
      • create_fake_finger_backend()
      • create_real_finger_backend()
    • robot_fingers.py_solo_eight module
      • SoloEightConfig
      • create_solo_eight_backend()
    • robot_fingers.py_trifinger module
      • TriFingerConfig
      • TriFingerPlatformFrontend
      • TriFingerPlatformLog
      • TriFingerPlatformWithObjectFrontend
      • TriFingerPlatformWithObjectLog
      • create_trifinger_backend()
    • robot_fingers.py_two_joint module
      • TwoJointConfig
      • create_two_joint_backend()
    • robot_fingers.pybullet_drivers module
      • create_single_finger_backend()
      • create_trifinger_backend()
    • robot_fingers.robot module
      • Robot
      • demo_print_position()
      • get_config_dir()
      • robot_configs
    • robot_fingers.utils module
      • TimePrinter
      • min_jerk_trajectory()