ReflexTakktile2¶

class ReflexTakktile2(self)¶

Bases: pybind11_object

Right Hand Robotics Reflex Takktile 2 hand controller.

See https://www.labs.righthandrobotics.com/docs for more details.

This class was tested with the Reflex Takktile2 hand .

To communicate by Ethernet with the hand we recommend to setup computer network with a static configuration:

IP: 10.1.1.10
Gateway: 254.0.0.0

Default constructor.

Methods

`__init__`	Default constructor.
`calibrate`	Calibrates the tactile sensors and fingers.
`disableTorque`	Puts the dynamixels motors into idle mode.
`getHandInfo`	Returns hand info data.
`getNumFingers`	return: Number of fingers.
`getNumSensorsPerFinger`	return: Number of sensors per finger.
`getNumServos`	return: Number of servos.
`getPosition`	return: 4-dim vector corresponding to the position in [rad] of finger 1, 2 and 3 and preshape respectively.
`getVelocity`	return: 4-dim vector corresponding to the velocity in [rad/s] of finger 1, 2 and 3 and preshape respectively.
`open`	Open Ethernet connection to Reflex Takktile 2 hand.
`setFingerConfigFile`	Set yaml file used to calibrate fingers.
`setMotorConfigFile`	Set yaml file used to define motor constants.
`setNetworkInterface`	Set network interface name.
`setPosition`	Set hand position.
`setPositioningVelocity`	Changes the positioning speed of the motor.
`setTactileConfigFile`	Set yaml file used to calibrate tactile sensors.
`setTactileThreshold`	Overloaded function.
`setVelocityUntilAnyContact`	Moves the fingers in until any of them makes contact with an object.
`setVelocityUntilEachContact`	Moves the fingers in until each finger makes contact with an object.
`wait`	Tries to communicate with the Reflex Hand object.

Inherited Methods

Operators

`__doc__`
`__init__`	Default constructor.
`__module__`

Attributes

`__annotations__`

__init__(self)¶: Default constructor.

calibrate(self) → None¶: Calibrates the tactile sensors and fingers.

disableTorque(self) → None¶: Puts the dynamixels motors into idle mode.

getHandInfo(self) → vpReflexTakktile2::HandInfo¶: Returns hand info data.

getNumFingers(self) → int¶

Returns:: Number of fingers.

getNumSensorsPerFinger(self) → int¶

Returns:: Number of sensors per finger.

getNumServos(self) → int¶

Returns:: Number of servos.

getPosition(self) → visp._visp.core.ColVector¶

Returns:: 4-dim vector corresponding to the position in [rad] of finger 1, 2 and 3 and preshape respectively.

getVelocity(self) → visp._visp.core.ColVector¶

Returns:: 4-dim vector corresponding to the velocity in [rad/s] of finger 1, 2 and 3 and preshape respectively.

open(self) → None¶: Open Ethernet connection to Reflex Takktile 2 hand.

setFingerConfigFile(self, finger_file_name: str) → None¶

Set yaml file used to calibrate fingers.

Parameters:

finger_file_name: str¶: Finger calibration file.

setMotorConfigFile(self, motor_file_name: str) → None¶

Set yaml file used to define motor constants.

Parameters:

motor_file_name: str¶: Motor constant file.

setNetworkInterface(self, network_interface: str = eth0) → None¶

Set network interface name.

Parameters:

network_interface: str = eth0¶: Network interface name used to communicate with the Right Hand. Use ifconfig command to know the name of this interface.

setPosition(self, targets: visp._visp.core.ColVector) → None¶

Set hand position. This function commands the motors from radians, using the zero references from yaml/finger_calibrate.yaml file to translate into the raw Dynamixel values.

Note

See setPositioningVelocity()

Parameters:

targets: visp._visp.core.ColVector¶: 4-dim vector with angular positions in [rad] for finger 1, 2, 3 and preshape respectively.

setPositioningVelocity(self, targets: visp._visp.core.ColVector) → None¶

Changes the positioning speed of the motor.

Note

See setPosition()

Parameters:

targets: visp._visp.core.ColVector¶: 4-dim vector with angular velocities in [rad/s] for finger 1, 2, 3 and preshape respectively.

setTactileConfigFile(self, tactile_file_name: str) → None¶

Set yaml file used to calibrate tactile sensors.

Parameters:

tactile_file_name: str¶: Tactile calibration file.

setTactileThreshold(*args, **kwargs)¶

Overloaded function.

setTactileThreshold(self: visp._visp.robot.ReflexTakktile2, threshold: int) -> None

Sets the same tactile threshold level to all tactile sensors for reporting contact.

Note

See setTactileThreshold(std::vector<int> &)

Parameters:

threshold: Value between 0 and 1000.

setTactileThreshold(self: visp._visp.robot.ReflexTakktile2, thresholds: list[int]) -> None

Sets the threshold level to each tactile sensor for reporting contact.

Note

See setTactileThreshold(int)

Parameters:

thresholds: This vector is of dim the number of fingers multiplied by the number of tactile sensors per finger. Values are between 0 and 1000.

setVelocityUntilAnyContact(self, targets: visp._visp.core.ColVector) → None¶

Moves the fingers in until any of them makes contact with an object.

Parameters:

targets: visp._visp.core.ColVector¶: 4-dim vector with angular velocities in [rad/s] for finger 1, 2, 3 and preshape respectively.

setVelocityUntilEachContact(self, targets: visp._visp.core.ColVector) → None¶

Moves the fingers in until each finger makes contact with an object.

Parameters:

targets: visp._visp.core.ColVector¶: 4-dim vector with angular velocities in [rad/s] for finger 1, 2, 3 and preshape respectively.

wait(self, milliseconds: int) → None¶

Tries to communicate with the Reflex Hand object.

Parameters:

milliseconds: int¶: Duration in [ms].