Inheritance diagram for nextage_ros_bridge.nextage_client.NextageClient:
Public Member Functions | |
| def | __init__ (self) |
| def | airhand_l_drawin (self) |
| def | airhand_l_keep (self) |
| def | airhand_l_release (self) |
| def | airhand_r_drawin (self) |
| def | airhand_r_keep (self) |
| def | airhand_r_release (self) |
| def | get_hand_version (self) |
| def | getRTCList (self) |
| def | goInitial (self, tm=7, wait=True, init_pose_type=0) |
| def | gripper_l_close (self) |
| def | gripper_l_open (self) |
| def | gripper_r_close (self) |
| def | gripper_r_open (self) |
| def | handlight_both (self, is_on=True) |
| def | handlight_l (self, is_on=True) |
| def | handlight_r (self, is_on=True) |
| def | handtool_l_attach (self) |
| def | handtool_l_eject (self) |
| def | handtool_r_attach (self) |
| def | handtool_r_eject (self) |
| def | init (self, robotname="HiroNX(Robot)0", url="") |
| def | initialize_hand_dio (self) |
| def | readDinGroup (self, ports, dumpFlag=True) |
| def | readDinGroupL (self, dumpFlag=True) |
| def | readDinGroupR (self, dumpFlag=True) |
| def | set_hand_version (self, version=HAND_VER_0_5_1) |
 Public Member Functions inherited from hironx_ros_bridge::hironx_client::HIRONX | |
| def | checkEncoders (self, jname='all', option='') |
| def | clearOfGroup (self, limb) |
| def | flat2Groups (self, flatList) |
| def | getJointAnglesOfGroup (self, limb) |
| def | getRTCList (self) |
| def | goInitial (self, tm=7, wait=True, init_pose_type=0) |
| def | goOffPose (self, tm=7) |
| def | hand_width2angles (self, width) |
| def | HandClose (self, hand=None, effort=None) |
| def | HandOpen (self, hand=None, effort=None) |
| def | init (self, robotname="HiroNX(Robot)0", url="") |
| def | isCalibDone (self) |
| def | isServoOn (self, jname='any') |
| def | moveHand (self, hand, av, tm=1) |
| def | removeForceSensorOffset (self) |
| def | servoOff (self, jname='all', wait=True) |
| def | servoOn (self, jname='all', destroy=1, tm=3) |
| def | setHandEffort (self, effort=100) |
| def | setHandJointAngles (self, hand, angles, tm=1) |
| def | setHandWidth (self, hand, width, tm=1, effort=None) |
| def | setSelfGroups (self) |
| def | startImpedance (self, arm, kwargs) |
| def | startImpedance_315_1 (self, arm, M_p=100.0, D_p=100.0, K_p=100.0, M_r=100.0, D_r=2000.0, K_r=2000.0, ref_force=[0, force_gain=[1, ref_moment=[0, moment_gain=[0, sr_gain=1.0, avoid_gain=0.0, reference_gain=0.0, manipulability_limit=0.1) |
| def | startImpedance_315_2 (self, arm, M_p=100.0, D_p=100.0, K_p=100.0, M_r=100.0, D_r=2000.0, K_r=2000.0, force_gain=[1, moment_gain=[0, sr_gain=1.0, avoid_gain=0.0, reference_gain=0.0, manipulability_limit=0.1) |
| def | startImpedance_315_3 (self, arm, M_p=100.0, D_p=100.0, K_p=100.0, M_r=100.0, D_r=2000.0, K_r=2000.0, force_gain=[1, moment_gain=[0, sr_gain=1.0, avoid_gain=0.0, reference_gain=0.0, manipulability_limit=0.1) |
| def | stopImpedance (self, arm) |
| def | stopImpedance_315_1 (self, arm) |
| def | stopImpedance_315_2 (self, arm) |
| def | stopImpedance_315_3 (self, arm) |
Public Attributes | |
| configurator_name | |
| HAND_VER_0_4_2 | |
| HAND_VER_0_5_1 | |
| use_gazebo | |
| Public Attributes inherited from hironx_ros_bridge::hironx_client::HIRONX | |
| hrpsys_version | |
| sensors | |
Static Public Attributes | |
| string | HAND_VER_0_4_2 = '0.4.2' |
| string | HAND_VER_0_5_1 = '0.5.1' |
| list | OffPose |
| bool | use_gazebo = False |
| Static Public Attributes inherited from hironx_ros_bridge::hironx_client::HIRONX | |
| list | Groups |
| dictionary | HandGroups |
| string | hrpsys_version |
| int | INITPOS_TYPE_EVEN |
| int | INITPOS_TYPE_FACTORY |
| list | OffPose |
| list | RtcList |
| sc | |
| sc_svc | |
Private Member Functions | |
| def | _print_msg_deprecated_dio_methods (self, name_method=None) |
Private Attributes | |
| _hand_version | |
| _hands | |
Static Private Attributes | |
| list | _DI_PORTS_L = [25, 21, 22, 23, 24] |
| list | _DI_PORTS_R = [20, 16, 17, 18, 19] |
Detailed Description
This class holds methods that are specific to Kawada Industries' dual-arm robot called Nextage Open.
Overriding a variable in the superclass to set the arms at higher positions.
Definition at line 46 of file nextage_client.py.
Constructor & Destructor Documentation
| def nextage_ros_bridge.nextage_client.NextageClient.__init__ | ( | self | ) |
Do not get confused that there is also a method called 'init' (without trailing underscores) that is succeeded from the super class as the tradition there.
Definition at line 75 of file nextage_client.py.
Member Function Documentation
|
private |
@type name_method: str @param name_method: Name of the method that calls this method if available.
Definition at line 127 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.airhand_l_drawin | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 253 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.airhand_l_keep | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 275 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.airhand_l_release | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 297 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.airhand_r_drawin | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 264 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.airhand_r_keep | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 286 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.airhand_r_release | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 308 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.get_hand_version | ( | self | ) |
@rtype: str
Definition at line 111 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.getRTCList | ( | self | ) |
Overwriting HrpsysConfigurator.getRTCList Returning predefined list of RT components. @rtype [[str]] @return List of available components. Each element consists of a list of abbreviated and full names of the component.
Definition at line 329 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.goInitial | ( | self, | |
tm = 7, |
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wait = True, |
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init_pose_type = 0 |
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| ) |
@see: HIRONX.goInitial
Definition at line 348 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.gripper_l_close | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 209 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.gripper_l_open | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 231 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.gripper_r_close | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 220 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.gripper_r_open | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 242 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handlight_both | ( | self, | |
is_on = True |
|||
| ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 155 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handlight_l | ( | self, | |
is_on = True |
|||
| ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 145 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handlight_r | ( | self, | |
is_on = True |
|||
| ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 135 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handtool_l_attach | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 187 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handtool_l_eject | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 165 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handtool_r_attach | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 198 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.handtool_r_eject | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 176 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.init | ( | self, | |
robotname = "HiroNX(Robot)0", |
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url = "" |
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| ) |
Calls init from its superclass, which tries to connect RTCManager, looks for ModelLoader, and starts necessary RTC components. Also runs config, logger. Also internally calls setSelfGroups(). @type robotname: str @type url: str
Definition at line 98 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.initialize_hand_dio | ( | self | ) |
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Reset all DIO channels to "off" state except for toolchanger lockers
(if they are turned off the attached tools will fall).
Definition at line 319 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.readDinGroup | ( | self, | |
| ports, | |||
dumpFlag = True |
|||
| ) |
Print the currently set values of digital input registry. Print output order is tailored
for the hands' functional group; DIO spec that is disloseable as of 7/17/2014 is:
Left hand:
DI26: Tool changer attached or not.
DI22, 23: Fingers.
DI24, 25: Compliance.
Right hand:
DI21: Tool changer attached or not.
DI17, 18: Fingers.
DI19, 20: Compliance.
Example output, for the right hand:
No hand attached:
In [1]: robot.printDin([20, 16, 17, 18, 19])
DI21 is 0
DI17 is 0
DI18 is 0
DI19 is 0
DI20 is 0
Out[1]: [(20, 0), (16, 0), (17, 0), (18, 0), (19, 0)]
Hand attached, fingers closed:
In [1]: robot.printDin([20, 16, 17, 18, 19])
DI21 is 1
DI17 is 1
DI18 is 0
DI19 is 0
DI20 is 0
Out[1]: [(20, 0), (16, 0), (17, 0), (18, 0), (19, 0)]
@author: Koichi Nagashima
@since: 0.2.16
@type ports: int or [int].
@param dumpFlag: Print each pin if True.
@param ports: A port number or a list of port numbers in D-in registry.
@rtype: [(int, int)]
@return: List of tuples of port and din value. If the arg ports was an int value,
this could be a list with single tuple in it.
Definition at line 357 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.readDinGroupL | ( | self, | |
dumpFlag = True |
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| ) |
Definition at line 417 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.readDinGroupR | ( | self, | |
dumpFlag = True |
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| ) |
Definition at line 420 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.set_hand_version | ( | self, | |
version = HAND_VER_0_5_1 |
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| ) |
Definition at line 120 of file nextage_client.py.
Member Data Documentation
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staticprivate |
Definition at line 67 of file nextage_client.py.
|
staticprivate |
Definition at line 68 of file nextage_client.py.
|
private |
Definition at line 121 of file nextage_client.py.
|
private |
Definition at line 123 of file nextage_client.py.
| nextage_ros_bridge.nextage_client.NextageClient.configurator_name |
Definition at line 95 of file nextage_client.py.
|
static |
Definition at line 70 of file nextage_client.py.
| nextage_ros_bridge.nextage_client.NextageClient.HAND_VER_0_4_2 |
Definition at line 122 of file nextage_client.py.
|
static |
Definition at line 71 of file nextage_client.py.
| nextage_ros_bridge.nextage_client.NextageClient.HAND_VER_0_5_1 |
Definition at line 124 of file nextage_client.py.
|
static |
Initial value:
Definition at line 58 of file nextage_client.py.
|
static |
Definition at line 73 of file nextage_client.py.
| nextage_ros_bridge.nextage_client.NextageClient.use_gazebo |
Definition at line 83 of file nextage_client.py.
The documentation for this class was generated from the following file: