Public Member Functions | |
| def | __init__ |
| def | airhand_l_drawin |
| def | airhand_l_keep |
| def | airhand_l_release |
| def | airhand_r_drawin |
| def | airhand_r_keep |
| def | airhand_r_release |
| def | get_hand_version |
| def | getRTCList |
| def | goInitial |
| def | gripper_l_close |
| def | gripper_l_open |
| def | gripper_r_close |
| def | gripper_r_open |
| def | handlight_both |
| def | handlight_l |
| def | handlight_r |
| def | handtool_l_attach |
| def | handtool_l_eject |
| def | handtool_r_attach |
| def | handtool_r_eject |
| def | init |
| def | initialize_hand_dio |
| def | readDinGroup |
| def | readDinGroupL |
| def | readDinGroupR |
| def | set_hand_version |
Public Attributes | |
| HAND_VER_0_4_2 | |
| HAND_VER_0_5_1 | |
Static Public Attributes | |
| string | HAND_VER_0_4_2 = '0.4.2' |
| string | HAND_VER_0_5_1 = '0.5.1' |
| list | OffPose |
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 43 of file nextage_client.py.
Constructor & Destructor Documentation
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 73 of file nextage_client.py.
Member Function Documentation
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 195 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 211 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 227 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 203 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 219 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 235 of file nextage_client.py.
@rtype: str
Definition at line 94 of file nextage_client.py.
Overwriting HrpsysConfigurator.getRTCList Returning predefined list of RT components. @rtype [[str]] @rerutrn List of available components. Each element consists of a list of abbreviated and full names of the component.
Definition at line 253 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.goInitial | ( | self, | |
tm = 7, |
|||
wait = True, |
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init_pose_type = 0 |
|||
| ) |
@see: HIRONX.goInitial
Definition at line 271 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 163 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 179 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 171 of file nextage_client.py.
@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.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 124 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 117 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 110 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 147 of file nextage_client.py.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 131 of file nextage_client.py.
@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.
@deprecated: Won't be functional after package version 0.5.1.
Use self._hands.%FUNCTION_NAME% instead.
Definition at line 139 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.init | ( | self, | |
robotname = "HiroNX(Robot)0", |
|||
url = "" |
|||
| ) |
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 82 of file nextage_client.py.
@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 243 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 280 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.readDinGroupL | ( | self, | |
dumpFlag = True |
|||
| ) |
Definition at line 340 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.readDinGroupR | ( | self, | |
dumpFlag = True |
|||
| ) |
Definition at line 343 of file nextage_client.py.
| def nextage_ros_bridge.nextage_client.NextageClient.set_hand_version | ( | self, | |
version = HAND_VER_0_5_1 |
|||
| ) |
Definition at line 103 of file nextage_client.py.
Member Data Documentation
list nextage_ros_bridge::nextage_client.NextageClient::_DI_PORTS_L = [25, 21, 22, 23, 24] [static, private] |
Definition at line 67 of file nextage_client.py.
list nextage_ros_bridge::nextage_client.NextageClient::_DI_PORTS_R = [20, 16, 17, 18, 19] [static, private] |
Definition at line 68 of file nextage_client.py.
Definition at line 103 of file nextage_client.py.
Definition at line 103 of file nextage_client.py.
string nextage_ros_bridge::nextage_client.NextageClient::HAND_VER_0_4_2 = '0.4.2' [static] |
Definition at line 70 of file nextage_client.py.
Definition at line 103 of file nextage_client.py.
string nextage_ros_bridge::nextage_client.NextageClient::HAND_VER_0_5_1 = '0.5.1' [static] |
Definition at line 71 of file nextage_client.py.
Definition at line 103 of file nextage_client.py.
[[0], [0, 0],
[25, -140, -150, 45, 0, 0],
[-25, -140, -150, -45, 0, 0],
[0, 0, 0, 0],
[0, 0, 0, 0]]
Reimplemented from hironx_ros_bridge::hironx_client::HIRONX.
Definition at line 58 of file nextage_client.py.
The documentation for this class was generated from the following file: