yumipy的夹爪控制

API

  • open_gripper(no_wait=Falsewait_for_res=True)
  • close_gripper(force=20width=0.0no_wait=Falsewait_for_res=True)
  • move_gripper(widthno_wait=Falsewait_for_res=True)
  • set_gripper_force(forcewait_for_res=True)
  • set_gripper_max_speed(max_speedwait_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?