svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController Class Reference

Public Member Functions
def	__init__ (self, controller_namespace, mx_io, teaching_mode=False)
def	extract_motor_window (self, index)
def	feel_and_react (self)
def	feel_and_react_motor (self, motor_id, threshold=3, offset=0)
def	get_raw_current (self, tau)
def	model_effort_cb (self, msg)
def	motor_state_cb (self, data)
def	pd_smooth (self, ts)
def	rad_to_raw (self, angle)
def	smoothListTriangle (self, list_val, strippedXs=False, degree=3)
def	start (self)
def	update_torque (self)

Public Attributes
	gr
	last_model_torque
	last_motor_state
	max_current
	model_torque
	motor_boost
	motor_state
	mx_io
	pos_active
	pre_error
	smoothed_torque
	teaching_mode
	test_pub
	torque_window

Detailed Description

Teaching mode should be enabled when the motors are context-switched into force control mode.
    This mode allows full movement and compliance from a human.

Otherwise, it is assumed the arm is in current-based position control mode, where compliance is
    intelligently turned on while the arm is not carying out a trajectory, or has failed in doing so.

Definition at line 47 of file svenzva_compliance_controller.py.

Constructor & Destructor Documentation

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.__init__	(		self,
			controller_namespace,
			mx_io,
			teaching_mode = False
	)

Definition at line 57 of file svenzva_compliance_controller.py.

Member Function Documentation

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.extract_motor_window	(		self,
			index
	)

Definition at line 89 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.feel_and_react

(

self

)

Definition at line 159 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.feel_and_react_motor	(		self,
			motor_id,
			threshold = 3,
			offset = 0
	)

Definition at line 125 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.get_raw_current	(		self,
			tau
	)

Definition at line 156 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.model_effort_cb	(		self,
			msg
	)

Definition at line 95 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.motor_state_cb	(		self,
			data
	)

Definition at line 76 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.pd_smooth	(		self,
			ts
	)

Definition at line 115 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.rad_to_raw	(		self,
			angle
	)

Definition at line 195 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.smoothListTriangle	(		self,
			list_val,
			strippedXs = False,
			degree = 3
	)

Definition at line 104 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.start

(

self

)

Definition at line 202 of file svenzva_compliance_controller.py.

def svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.update_torque

(

self

)

Definition at line 198 of file svenzva_compliance_controller.py.

Member Data Documentation

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.gr

Definition at line 64 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.last_model_torque

Definition at line 68 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.last_motor_state

Definition at line 60 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.max_current

Definition at line 70 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.model_torque

Definition at line 67 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.motor_boost

Definition at line 74 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.motor_state

Definition at line 59 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.mx_io

Definition at line 58 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.pos_active

Definition at line 71 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.pre_error

Definition at line 72 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.smoothed_torque

Definition at line 65 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.teaching_mode

Definition at line 69 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.test_pub

Definition at line 63 of file svenzva_compliance_controller.py.

svenzva_drivers.svenzva_compliance_controller.SvenzvaComplianceController.torque_window

Definition at line 73 of file svenzva_compliance_controller.py.

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The documentation for this class was generated from the following file:

• svenzva_compliance_controller.py