klampt.control.interop module

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

Classes:

`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.
`RobotControllerBlockToInterface`(controller, ...)	A class that connects the I/O of a `RobotControllerBlock` robot controller with a `RobotInterfaceBase` Robot Interface Layer API.
`RobotInterfacetoVis`(robotInterface[, ...])	A class that produces a standard klampt.vis display to monitor a `RobotInterfaceBase` Robot Interface Layer API.

class klampt.control.interop.SimRobotControllerToInterface(robotInterface)[source]

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:

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

initialize()[source]

beginStep()[source]

endStep()[source]

model()[source]

setRate(dt)[source]

getRate()[source]

getCommandedConfig()[source]

getCommandedVelocity()[source]

getCommandedTorque()[source]

getSensedConfig()[source]

getSensedVelocity()[source]

getSensedTorque()[source]

sensor(index_or_name)[source]

commands()[source]

sendCommand(name, args)[source]

getSetting(name)[source]

setSetting(name, val)[source]

setMilestone(q, dq=None)[source]

addMilestone(q, dq=None)[source]

addMilestoneLinear(q)[source]

setLinear(q, dt)[source]

setCubic(q, v, dt)[source]

addLinear(q, dt)[source]

addCubic(q, dt)[source]

remainingTime()[source]

setVelocity(dq, dt)[source]

setTorque(t)[source]

setPIDCommand(qdes, dqdes, tfeedforward=None)[source]

setManualMode(enabled)[source]

getControlType()[source]

setPIDGains(kP, kI, kD)[source]

getPIDGains()[source]

class klampt.control.interop.RobotControllerBlockToInterface(controller, robotInterface, controllerRateRatio=1)[source]

Bases: object

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

Parameters:

controller (RobotControllerBlock) – the controller block.
robotInterface (RobotInterfaceBase) – the robot interface
controllerRateRatio (float, optional) – if not 1, scales how many times the block is run for each main loop of the robotInterface

Methods:

advance([step_interface])

Moves forward the controller and interface one step.

advance(step_interface=False)[source]

Moves forward the controller and interface one step.

If step_interface = True the robotInterface will also be stepped. Otherwise, make sure you call startStep()/endStep() like:

c2i = RobotControllerBlockToInterface(...)
c2i.robotInterface.startStep()
c2i.advance()
c2i.robotInterface.endStep()

class klampt.control.interop.RobotInterfacetoVis(robotInterface, visRobotIndex=0)[source]

Bases: object

A class that produces a standard klampt.vis display to monitor a RobotInterfaceBase Robot Interface Layer API.

Note: this assumes that vis has been set up with an appropriate world.

Methods:

update()

update()[source]