robot_interfaces.py_trifinger_types module¶

class robot_interfaces.py_trifinger_types.Action(torque=[0] * n_joints, position=[nan] * n_joints, position_kp=[nan] * n_joints, position_kd=[nan] * n_joints)¶

Bases: pybind11_object

Action with desired torque and (optional) position.

The resulting torque command sent to the robot is:

torque_command = torque + PD(position)

To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.

The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set torque to zero for all joints.

Parameters:

torque – Desired torque.
position – Desired position. Set values to NaN to disable position controller for the corresponding joints
position_kp – P-gains for the position controller. Set to NaN to use default values.
position_kd – D-gains for the position controller. Set to NaN to use default values.

property position¶: List of desired positions, one per joint. If set, a PD position controller is run and the resulting torque is added to torque. Set to NaN to disable position controller (default).

property position_kd¶: D-gains for position controller, one per joint. If NaN, default is used.

property position_kp¶: P-gains for position controller, one per joint. If NaN, default is used.

property torque¶: List of desired torques, one per joint.

class robot_interfaces.py_trifinger_types.Backend¶

Bases: pybind11_object

get_termination_reason()¶

initialize()¶

is_running()¶

request_shutdown()¶

wait_until_first_action()¶

wait_until_terminated()¶

class robot_interfaces.py_trifinger_types.BaseData¶: Bases: pybind11_object

class robot_interfaces.py_trifinger_types.BinaryLogReader(filename: str)¶

Bases: pybind11_object

See read_file().

property data¶

Contains the log entries.

Type:: List[LogEntry]

read_file(filename: str)¶

Read data from the specified binary robot log file.

The data is stored to data.

Parameters:: filename (str) – Path to the robot log file.

class robot_interfaces.py_trifinger_types.Frontend¶

Bases: pybind11_object

append_desired_action()¶

get_applied_action()¶

get_current_timeindex()¶

get_desired_action()¶

get_observation()¶

get_status()¶

get_timestamp_ms()¶

wait_until_timeindex()¶

class robot_interfaces.py_trifinger_types.LogEntry¶

Bases: pybind11_object

Represents the logged of one time step.

property applied_action¶

property desired_action¶

property observation¶

property status¶

property timeindex¶

property timestamp¶

class robot_interfaces.py_trifinger_types.Logger¶

Bases: pybind11_object

class Format¶

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = <Format.BINARY: 0>¶

CSV = <Format.CSV: 1>¶

CSV_GZIP = <Format.CSV_GZIP: 2>¶

property name¶

property value¶

reset()¶

save_current_robot_data()¶

save_current_robot_data_binary()¶

start()¶

stop()¶

stop_and_save()¶

class robot_interfaces.py_trifinger_types.MultiProcessData¶

Bases: BaseData

property applied_action¶

property desired_action¶

property observation¶

property status¶

class robot_interfaces.py_trifinger_types.Observation¶

Bases: pybind11_object

property position¶: List of angular joint positions [rad], one per joint.

property tip_force¶: Measurements of the push sensors at the finger tips, one per finger. Ranges between 0 and 1.

property torque¶: List of torques [Nm], one per joint.

property velocity¶: List of angular joint velocities [rad/s], one per joint.

class robot_interfaces.py_trifinger_types.SingleProcessData¶

Bases: BaseData

property applied_action¶

property desired_action¶

property observation¶

property status¶

robot_interfaces.py_trifinger_types.clear_memory()¶

robot_interfaces.py_trifinger_types.create_follower__ActionMultiProcessTimeSeries()¶

robot_interfaces.py_trifinger_types.create_follower__ObservationMultiProcessTimeSeries()¶

robot_interfaces.py_trifinger_types.create_leader__ActionMultiProcessTimeSeries()¶

robot_interfaces.py_trifinger_types.create_leader__ObservationMultiProcessTimeSeries()¶