clearpath_config.manipulators.types.arms module

class clearpath_config.manipulators.types.arms.Arm(model: str)

Bases: object

FRANKA = 'franka'

KINOVA_GEN3_6DOF = 'kinova_gen3_6dof'

KINOVA_GEN3_7DOF = 'kinova_gen3_7dof'

KINOVA_GEN3_LITE = 'kinova_gen3_lite'

MODEL = {'franka': <class 'clearpath_config.manipulators.types.arms.Franka'>, 'kinova_gen3_6dof': <class 'clearpath_config.manipulators.types.arms.KinovaGen3Dof6'>, 'kinova_gen3_7dof': <class 'clearpath_config.manipulators.types.arms.KinovaGen3Dof7'>, 'kinova_gen3_lite': <class 'clearpath_config.manipulators.types.arms.KinovaGen3Lite'>, 'universal_robots': <class 'clearpath_config.manipulators.types.arms.UniversalRobots'>}

UNIVERSAL_ROBOTS = 'universal_robots'

classmethod assert_model(model: str) → None

class clearpath_config.manipulators.types.arms.BaseArm(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseManipulator

DEFAULT_IP_ADDRESS = '192.168.131.40'

DEFAULT_IP_PORT = 10000

END_EFFECTOR_LINK = 'end_effector'

IP_ADDRESS = 'ip'

IP_PORT = 'port'

MANIPULATOR_MODEL = 'base'

MANIPULATOR_TYPE = 'arm'

URDF_PARAMETERS = {}

from_dict(d: dict) → None

classmethod get_ip_from_idx(idx: int) → str

property ip: str

property port: int

set_idx(idx: int) → None

to_dict() → dict

class clearpath_config.manipulators.types.arms.BaseKinova(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseArm

CONNECTION_INACTIVITY_TIMEOUT_MS = 'connection_inactivity_timeout_ms'

DOF = 'dof'

END_EFFECTOR_LINK = 'end_effector_link'

FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'

GRIPPER_JOINT_NAME = 'gripper_joint_name'

GRIPPER_MAX_FORCE = 'gripper_max_force'

GRIPPER_MAX_VELOCITY = 'gripper_max_velocity'

INITIAL_POSITIONS = 'initial_positions'

JOINT_COUNT = 6

MANIPULATOR_MODEL = 'base_kinova'

PASSWORD = 'password'

PORT = 'port'

PORT_REALTIME = 'port_realtime'

ROBOT_IP = 'robot_ip'

SESSION_INACTIVITY_TIMEOUT_MS = 'session_inactivity_timeout_ms'

SIM_GAZEBO = 'sim_gazebo'

SIM_IGNITION = 'sim_ignition'

SIM_ISAAC = 'sim_isaac'

TF_PREFIX = 'tf_prefix'

URDF_PARAMETERS = {'connection_inactivity_timeout_ms': '', 'dof': '', 'fake_sensor_commands': '', 'gripper_joint_name': '', 'gripper_max_force': '', 'gripper_max_velocity': '', 'initial_positions': '', 'password': '', 'port': '', 'port_realtime': '', 'robot_ip': '', 'session_inactivity_timeout_ms': '', 'sim_gazebo': '', 'sim_ignition': '', 'sim_isaac': '', 'tf_prefix': '', 'use_controllers': '', 'use_external_cable': '', 'use_fake_hardware': '', 'use_internal_bus_gripper_comm': '', 'username': '', 'vision': ''}

USERNAME = 'username'

USE_CONTROLLERS = 'use_controllers'

USE_EXTERNAL_CABLE = 'use_external_cable'

USE_FAKE_HARDWARE = 'use_fake_hardware'

USE_INTERNAL_BUS_GRIPPER_COMM = 'use_internal_bus_gripper_comm'

VISION = 'vision'

class clearpath_config.manipulators.types.arms.Franka(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, arm_id: str = 'fr3', ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseArm

ARM_ID = 'arm_id'

ARM_IDS = ['fer', 'fp3', 'fr3']

ARM_PREFIX = 'arm_prefix'

CONNECTED_TO = 'connected_to'

DEFAULT_ARM_ID = 'fr3'

DYNAMICS = 'dynamics'

DYNAMICS_PARAMETERS_FILE = 'dynamics_parameters_file'

EE_ID = 'ee_id'

END_EFFECTOR_LINK = 'link8'

FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'

FER = 'fer'

FP3 = 'fp3'

FR3 = 'fr3'

GAZEBO = 'gazebo'

GAZEBO_EFFORT = 'gazebo_effort'

HAND = 'hand'

INERTIALS = 'inertials'

INERTIALS_PARAMETERS_FILE = 'inertials_parameters_file'

IP_ADDRESS = 'robot_ip'

JOINT_COUNT = 7

JOINT_LIMITS = 'joint_limits'

JOINT_LIMITS_PARAMETERS_FILE = 'joint_limits_parameters_file'

KINEMATICS = 'kinematics'

KINEMATICS_PARAMETERS_FILE = 'kinematics_parameters_file'

MANIPULATOR_MODEL = 'franka'

NO_PREFIX = 'no_prefix'

ROS2_CONTROL = 'ros2_control'

URDF_PARAMETERS = {'arm_prefix': '', 'connected_to': '', 'dynamics': '', 'dynamics_parameters_file': '', 'ee_id': '', 'fake_sensor_commands': '', 'gazebo': '', 'gazebo_effort': '', 'hand': '', 'inertials': '', 'inertials_parameters_file': '', 'joint_limits': '', 'joint_limits_parameters_file': '', 'kinematics': '', 'kinematics_parameters_file': '', 'no_prefix': '', 'robot_ip': '', 'ros2_control': '', 'use_fake_hardware': '', 'with_sc': ''}

USE_FAKE_HARDWARE = 'use_fake_hardware'

WITH_SC = 'with_sc'

property arm_id: str

from_dict(d: dict) → None

set_idx(idx: int) → None

class clearpath_config.manipulators.types.arms.KinovaGen3Dof6(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseKinova

END_EFFECTOR_LINK = 'end_effector_link'

JOINT_COUNT = 6

MANIPULATOR_MODEL = 'kinova_gen3_6dof'

static assert_is_supported()

Override this method to temporarily disable accessories that are not currently supported.

When disabling an accessory, raise a clearpath_config.common.types.exception.UnsupportedAccessoryException with a suitable mesage (e.g. ‘SpamEggs driver is not yet released for ROS 2 Jazzy’)

@return None

@exception Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException

if the accessory is not supported

class clearpath_config.manipulators.types.arms.KinovaGen3Dof7(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseKinova

END_EFFECTOR_LINK = 'end_effector_link'

JOINT_COUNT = 7

MANIPULATOR_MODEL = 'kinova_gen3_7dof'

static assert_is_supported()

Override this method to temporarily disable accessories that are not currently supported.

When disabling an accessory, raise a clearpath_config.common.types.exception.UnsupportedAccessoryException with a suitable mesage (e.g. ‘SpamEggs driver is not yet released for ROS 2 Jazzy’)

@return None

@exception Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException

if the accessory is not supported

class clearpath_config.manipulators.types.arms.KinovaGen3Lite(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseKinova

END_EFFECTOR_LINK = 'end_effector_link'

JOINT_COUNT = 6

MANIPULATOR_MODEL = 'kinova_gen3_lite'

static assert_is_supported()

Override this method to temporarily disable accessories that are not currently supported.

When disabling an accessory, raise a clearpath_config.common.types.exception.UnsupportedAccessoryException with a suitable mesage (e.g. ‘SpamEggs driver is not yet released for ROS 2 Jazzy’)

@return None

@exception Raises a clearpath_config.common.types.exception.UnsupportedAccessoryException

if the accessory is not supported

class clearpath_config.manipulators.types.arms.UniversalRobots(idx: int = None, name: str = None, ip: str = '192.168.131.40', port: int = 10000, ur_type: str = 'ur5e', ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseArm

DEFAULT_UR_TYPE = 'ur5e'

END_EFFECTOR_LINK = 'tool0'

HEADLESS_MODE = 'headless_mode'

INITIAL_POSITIONS = 'initial_positions'

INITIAL_POSITIONS_FILE = 'initial_positions_file'

INPUT_RECIPE_FILENAME = 'input_recipe_filename'

IP_ADDRESS = 'robot_ip'

JOINT_COUNT = 6

JOINT_LIMITS_PARAMETERS_FILE = 'joint_limits_parameters_file'

KEEP_ALIVE_COUNT = 'keep_alive_count'

KINEMATICS_PARAMETERS_FILE = 'kinematics_parameters_file'

MANIPULATOR_MODEL = 'universal_robots'

MOCK_SENSOR_COMMANDS = 'mock_sensor_commands'

NON_BLOCKING_READ = 'non_blocking_read'

OUTPUT_RECIPE_FILENAME = 'output_recipe_filename'

PHYSICAL_PARAMETERS_FILE = 'physical_parameters_file'

REVERSE_IP = 'reverse_ip'

REVERSE_PORT = 'reverse_port'

SAFETY_K_POSITION = 'safety_k_position'

SAFETY_LIMITS = 'safety_limits'

SAFETY_POS_MARGIN = 'safety_pos_margin'

SCRIPT_COMMAND_PORT = 'script_command_port'

SCRIPT_FILENAME = 'script_filename'

SCRIPT_SENDER_PORT = 'script_sender_port'

SIM_GAZEBO = 'sim_gazebo'

SIM_IGNITION = 'sim_ignition'

TOOL_BAUD_RATE = 'tool_baud_rate'

TOOL_DEVICE_NAME = 'tool_device_name'

TOOL_PARITY = 'tool_parity'

TOOL_RX_IDLE_CHARS = 'tool_rx_idle_chars'

TOOL_STOP_BITS = 'tool_stop_bits'

TOOL_TCP_PORT = 'tool_tcp_port'

TOOL_TX_IDLE_CHARS = 'tool_tx_idle_chars'

TOOL_VOLTAGE = 'tool_voltage'

TRAJECTORY_PORT = 'trajectory_port'

TRANSMISSION_HW_INTERFACE = 'transmission_hw_interface'

UR10 = 'ur10'

UR10E = 'ur10e'

UR15 = 'ur15'

UR16E = 'ur16e'

UR20 = 'ur20'

UR20E = 'ur20e'

UR3 = 'ur3'

UR30 = 'ur30'

UR3E = 'ur3e'

UR5 = 'ur5'

UR5E = 'ur5e'

URDF_PARAMETERS = {'headless_mode': '', 'initial_positions': '', 'initial_positions_file': '', 'input_recipe_filename': '', 'joint_limits_parameters_file': '', 'keep_alive_count': '', 'kinematics_parameters_file': '', 'mock_sensor_commands': '', 'non_blocking_read': '', 'output_recipe_filename': '', 'physical_parameters_file': '', 'reverse_ip': '', 'reverse_port': '', 'robot_ip': '', 'safety_k_position': '', 'safety_limits': '', 'safety_pos_margin': '', 'script_command_port': '', 'script_filename': '', 'script_sender_port': '', 'sim_gazebo': '', 'sim_ignition': '', 'tool_baud_rate': '', 'tool_device_name': '', 'tool_parity': '', 'tool_rx_idle_chars': '', 'tool_stop_bits': '', 'tool_tcp_port': '', 'tool_tx_idle_chars': '', 'tool_voltage': '', 'trajectory_port': '', 'transmission_hw_interface': '', 'ur_type': '', 'use_mock_hardware': '', 'use_tool_communication': '', 'visual_parameters_file': ''}

UR_TYPE = 'ur_type'

UR_TYPES = ['ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'ur15', 'ur16e', 'ur20', 'ur20e', 'ur30']

USE_MOCK_HARDWARE = 'use_mock_hardware'

USE_TOOL_COMMUNICATION = 'use_tool_communication'

VISUAL_PARAMETERS_FILE = 'visual_parameters_file'

from_dict(d: dict) → None

property ur_type: str