yumipy的夹爪控制 §
API §
open_gripper
(no_wait=False, wait_for_res=True)
close_gripper
(force=20, width=0.0, no_wait=False, wait_for_res=True)
move_gripper
(width, no_wait=False, wait_for_res=True)
set_gripper_force
(force, wait_for_res=True)
set_gripper_max_speed
(max_speed, wait_for_res=True)
get_gripper_width
(raw_res=False)
代码 §
- RAPID SERVER_LEFT, SERVER_RIGHT
yumi/yumi_arm.py
move_gripper
, line 957
YuMiArm._iter_to_str() 构造body -> YumiArm._construct_req()构造req -> call self.request(req, …)
yumipy/yumi_constants.py
通讯控制代码 (对应SERVER_LEFT/RIGHT中的case?)
'close_gripper': 20,
'open_gripper': 21,
'calibrate_gripper': 22,
'set_gripper_max_speed': 23,
'set_gripper_force': 24,
'move_gripper': 25,
'get_gripper_width': 26,
KTH-yumi §
yumi_hw/rapid/Grippers/GripperMotion_left.mod
负责夹爪开合,直接与ROS对接?
yumi_hw/rapid/Grippers/HandDriver_left.sys
实际包含了更多对夹爪的控制?