robot_fingers.py_real_finger module

class robot_fingers.py_real_finger.FingerConfig

Bases: pybind11_object

class CalibrationParameters

Bases: pybind11_object

property endstop_search_torques_Nm

Torque that is used to find the end stop.

property move_steps

Number of time steps for reaching the initial position.

class PositionControlGains

Bases: pybind11_object

property kd

property kp

class TrajectoryStep

Bases: pybind11_object

property move_steps

Number of time steps for reaching the target position.

property target_position_rad

Target position to which the joints should move.

property calibration

Parameters related to calibration.

property can_ports

List of CAN port names used by the robot.

property hard_position_limits_lower

Hard lower limits for joint positions.

property hard_position_limits_upper

Hard upper limits for joint positions.

property has_endstop

Whether the joints have physical end stops or not.

property home_offset_rad

Offset between home and zero position.

property initial_position_rad

Initial position to which the robot moves during initialisation.

is_within_hard_position_limits(self: robot_fingers.py_real_finger.FingerConfig, position: numpy.ndarray[numpy.float64[3, 1]]) → bool

is_within_hard_position_limits(position: list) -> bool

Check if the given position is within the hard limits.

Parameters:

position – Joint positions.

Returns:

True if hard_position_limits_lower <= position <= hard_position_limits_upper.

static load_config(config_file_name: str) → robot_fingers.py_real_finger.FingerConfig

load_config(config_file_name: str) -> Config

Load driver configuration from a YAML file.

Parameters:

config_file_name – Path to the config file.

Returns:

The configuration loaded from the given file.

property max_current_A

Maximum current that can be sent to the motor [A].

property move_to_position_tolerance_rad

Tolerance for reaching the target with NJointBlmcRobotDriver::move_to_position()

property position_control_gains

Default control gains for the position controller.

print(self: robot_fingers.py_real_finger.FingerConfig) → None

print()

Print the configuration.

property safety_kd

D-gain to dampen velocity. Set to zero to disable damping.

property shutdown_trajectory

Trajectory which is executed during shutdown.

property soft_position_limits_lower

Soft lower limits for joint positions.

property soft_position_limits_upper

Soft upper limits for joint positions.

robot_fingers.py_real_finger.create_fake_finger_backend(arg0: robot_interfaces::RobotData<robot_interfaces::NJointAction<3ul>, robot_interfaces::NFingerObservation<1ul> >) → robot_interfaces::RobotBackend<robot_interfaces::NJointAction<3ul>, robot_interfaces::NFingerObservation<1ul> >

robot_fingers.py_real_finger.create_real_finger_backend(*args, **kwargs)

Overloaded function.

1. create_real_finger_backend(robot_data: robot_interfaces::RobotData<robot_interfaces::NJointAction<3ul>, robot_interfaces::NFingerObservation<1ul> >, config: robot_fingers::NJointBlmcRobotDriver<robot_interfaces::NFingerObservation<1ul>, 3ul, 2ul>::Config, first_action_timeout: float = inf, max_number_of_actions: int = 0) -> robot_interfaces::RobotBackend<robot_interfaces::NJointAction<3ul>, robot_interfaces::NFingerObservation<1ul> >

2. create_real_finger_backend(robot_data: robot_interfaces::RobotData<robot_interfaces::NJointAction<3ul>, robot_interfaces::NFingerObservation<1ul> >, config_file: str, first_action_timeout: float = inf, max_number_of_actions: int = 0) -> robot_interfaces::RobotBackend<robot_interfaces::NJointAction<3ul>, robot_interfaces::NFingerObservation<1ul> >