klampt.control.interop module

Defines utilities for connecting simulation controllers to the Robot Interface Layer, and connect ControllerBlocks to RobotInterfaceBase receivers.

Classes:

RobotControllerToInterface(controller, …)	A class that connects the I/O of a standard ControllerBlock robot controller with a RobotInterfaceBase Robot Interface Layer API.
RobotInterfacetoVis(robotInterface[, …])	A class that manages connections between the sensor readings of a RobotInterfaceBase Robot Interface Layer API to the Klamp’t vis module.
SimRobotControllerToInterface(robotInterface)	A class that provides an API like SimRobotController so that simulation control code can be ported easily to a RobotInterfaceBase Robot Interface Layer API.

class klampt.control.interop.RobotControllerToInterface(controller, robotInterface, controllerRateRatio=1)

Bases: object

A class that connects the I/O of a standard ControllerBlock robot controller with a RobotInterfaceBase Robot Interface Layer API.

Parameters

• controller (ControllerBlock) – the controller software, should conform to the RobotControllerBase convention.

• robotInterface (RobotInterfaceBase) – the robot interface

• controllerRateRatio (float, optional) – if not 1, scales how many times the controller is run for each main loop of the robotInterface

Methods:

advance()

advance()

class klampt.control.interop.RobotInterfacetoVis(robotInterface, visRobotIndex=0)

Bases: object

A class that manages connections between the sensor readings of a RobotInterfaceBase Robot Interface Layer API to the Klamp’t vis module.

This assumes that vis has been set up with an appropriate world.

Methods:

update()

update()

class klampt.control.interop.SimRobotControllerToInterface(robotInterface)

Bases: object

A class that provides an API like SimRobotController so that simulation control code can be ported easily to a RobotInterfaceBase Robot Interface Layer API.

Missing:

• setRate(dt): can’t change a real robot’s control rate.

• getSetting()/setSetting(): no interface to configure robot.

• setMilestone(q,dq): can’t set a terminal velocity.

• add*(): can’t queue up commands.

• getPIDGains(): can’t configure PID gains.

Parameters

robotInterface (RobotInterfaceBase) – the robot interface to use

Methods:

addCubic(q, dt)
addLinear(q, dt)
addMilestone(q[, dq])
addMilestoneLinear(q)
commands()
endStep()
getCommandedConfig()
getCommandedTorque()
getCommandedVelocity()
getControlType()
getPIDGains()
getRate()
getSensedConfig()
getSensedTorque()
getSensedVelocity()
getSetting(name)
initialize()
model()
remainingTime()
sendCommand(name, args)
sensor(index_or_name)
setCubic(q, v, dt)
setLinear(q, dt)
setManualMode(enabled)
setMilestone(q[, dq])
setPIDCommand(qdes, dqdes[, tfeedforward])
setPIDGains(kP, kI, kD)
setRate(dt)
setSetting(name, val)
setTorque(t)
setVelocity(dq, dt)
startStep()

addCubic(q, dt)

addLinear(q, dt)

addMilestone(q, dq=None)

addMilestoneLinear(q)

commands()

endStep()

getCommandedConfig()

getCommandedTorque()

getCommandedVelocity()

getControlType()

getPIDGains()

getRate()

getSensedConfig()

getSensedTorque()

getSensedVelocity()

getSetting(name)

initialize()

model()

remainingTime()

sendCommand(name, args)

sensor(index_or_name)

setCubic(q, v, dt)

setLinear(q, dt)

setManualMode(enabled)

setMilestone(q, dq=None)

setPIDCommand(qdes, dqdes, tfeedforward=None)

setPIDGains(kP, kI, kD)

setRate(dt)

setSetting(name, val)

setTorque(t)

setVelocity(dq, dt)

startStep()