A robot's gripper reprensentation. More...

#include <mc_control/generic_gripper.h>

Collaboration diagram for mc_control::Gripper:

Public Member Functions
	Gripper (const mc_rbdyn::Robot &robot, const std::vector< std::string > &jointNames, const std::string &robot_urdf, bool reverseLimits, const mc_rbdyn::RobotModule::Gripper::Safety &safety)
	Constructor. More...

	Gripper (const mc_rbdyn::Robot &robot, const std::vector< std::string > &jointNames, const std::vector< mc_rbdyn::Mimic > &mimics, bool reverseLimits, const mc_rbdyn::RobotModule::Gripper::Safety &safety)
	Constructor. More...

void	resetDefaults ()
	Resets the gripper parameters to their default value (percentVMax, actualCommandDiffTrigger) More...

void	saveConfig ()
	Saves the current gripper configuration parameters contained in Config. More...

void	restoreConfig ()
	Restores the gripper configuration parameters from their saved value. More...

void	configure (const mc_rtc::Configuration &config)
	Applies a new gripper configuration (safeties and targets) More...

void	reset (const std::vector< double > &currentQ)
	Reset the gripper state to the current actual state of the gripper. More...

void	reset (const Gripper &gripper)
	Reset from another gripper. More...

void	run (double timeStep, mc_rbdyn::Robot &robot, mc_rbdyn::Robot &real)
	Run one iteration of control. More...

void	setTargetQ (const std::vector< double > &targetQ)
	Set the target configuration of the active joints involved in the gripper. More...

void	setTargetQ (const std::string &jointName, double targetQ)
	Set the target configuration of the specified active joint. More...

double	getTargetQ (const std::string &jointName) const

std::vector< double >	getTargetQ () const

void	setTargetOpening (double targetOpening)
	Set the target opening of all gripper joints simultaneously. More...

void	setTargetOpening (const std::string &jointName, double targetOpening)
	Set the target opening of a single gripper joint. More...

double	getTargetOpening (const std::string &jointName) const
	Get the target opening of a single gripper joint. More...

std::vector< double >	curPosition () const
	Get current configuration. More...

std::vector< double >	curOpening () const
	Get current opening percentage. More...

double	curOpening (const std::string &jointName) const
	Get the current opening of a single gripper joint. More...

const std::vector< std::string > &	joints () const
	Returns all joints involved in the gripper. More...

const std::vector< std::string > &	activeJoints () const
	Returns all active joints involved in the gripper. More...

bool	hasActiveJoint (const std::string &jointName) const

const std::vector< double > &	q () const
	Return all gripper joints configuration. More...

double	opening () const
	Get the current opening percentage. More...

void	percentVMAX (double percent)

double	percentVMAX () const

void	actualCommandDiffTrigger (double d)

double	actualCommandDiffTrigger () const

void	overCommandLimitIterN (unsigned int N)

unsigned int	overCommandLimitIterN () const

void	releaseSafetyOffset (double offset)

double	releaseSafetyOffset () const

bool	complete () const
	Check if the gripper motion stopped moving. More...

bool	is_metric () const noexcept
	Returns true if a gripper is metric, i.e. all active joints are prismatic rather than revolute. More...

bool	reversed () const noexcept
	When true the gripper is considered "open" when the joints' values are minimal. More...

Protected Types
using	Config = mc_rbdyn::RobotModule::Gripper::Safety

Protected Member Functions
void	setTargetOpening (size_t activeJointId, double targetOpening)
	Set the target opening of a single gripper joint by index. More...

void	setTargetQ (size_t activeJointId, double targetQ)
	Set the target configuration of the specified active joint. More...

void	setTargetQ_ (size_t activeJoints, double targetQ)
	Fast version of setTargetQ(size_t, double) without clamping. More...

void	setTargetQ_ (const std::vector< double > &targetQ)
	Fast version of setTargetQ(std::vector<double>) More...

double	curPosition (size_t jointId) const
	Current position of an active joint. More...

double	curOpening (size_t jointId) const
	Current opening percentage of an active joint. More...

double	targetOpening (size_t jointId) const
	Target opening percentage of an active joint. More...

double	getTargetQ (size_t jointId) const
	Target opening angle of an active joint. More...

double	clampQ (size_t activeJoint, double q)
	Clamp an active joint value within its joint limits. More...

Protected Attributes
std::vector< std::string >	names

std::vector< std::string >	active_joints

std::vector< size_t >	active_joints_idx

std::vector< int >	joints_mbc_idx

bool	is_metric_

std::vector< double >	closeP

std::vector< double >	openP

std::vector< double >	vmax

std::vector< std::pair< size_t, double > >	mult

std::vector< double >	offset

std::vector< double >	_q

std::vector< double >	targetQIn

std::vector< double > *	targetQ

std::vector< double >	reached_threshold_

std::vector< double >	actualQ

Config	config_

Config	savedConfig_

Config	defaultConfig_

std::vector< double >	percentOpen

std::vector< bool >	overCommandLimit

std::vector< unsigned int >	overCommandLimitIter

bool	reversed_ = false

Detailed Description

A robot's gripper reprensentation.

A gripper is composed of a set of joints that we want to control only through "manual" operations. It may include passive joints.

By default, a gripper is considered "open" when its joints' values are at maximum value and "closed" at minimum value. This behaviour can be reversed when the gripper is created.

In real operations the actuated joints are also monitored to avoid potential servo errors.

Member Typedef Documentation

◆ Config

using mc_control::Gripper::Config = mc_rbdyn::RobotModule::Gripper::Safety

protected

Constructor & Destructor Documentation

◆ Gripper() [1/2]

mc_control::Gripper::Gripper	(	const mc_rbdyn::Robot &	robot,
		const std::vector< std::string > &	jointNames,
		const std::string &	robot_urdf,
		bool	reverseLimits,
		const mc_rbdyn::RobotModule::Gripper::Safety &	safety
	)

Constructor.

Parameters

robot	The full robot including uncontrolled joints
jointNames	Name of the active joints involved in the gripper
robot_urdf	URDF of the robot
reverseLimits	If set to true, then the gripper is considered "open" when the joints' values are minimal
safety	Default gripper safety parameters

◆ Gripper() [2/2]

mc_control::Gripper::Gripper	(	const mc_rbdyn::Robot &	robot,
		const std::vector< std::string > &	jointNames,
		const std::vector< mc_rbdyn::Mimic > &	mimics,
		bool	reverseLimits,
		const mc_rbdyn::RobotModule::Gripper::Safety &	safety
	)

Constructor.

This constructor does not use information from the URDF file

Parameters

robot	Robot, must have the active joints of the gripper to work properly
jointNames	Name of the active joints involved in the gripper
mimics	Mimic joints for the gripper
reverseLimits	If true, the gripper is considered "open" when the joints values are minimal
safety	Default gripper safety parameters

Member Function Documentation

◆ activeJoints()

const std::vector<std::string>& mc_control::Gripper::activeJoints ( ) const

inline

Returns all active joints involved in the gripper.

◆ actualCommandDiffTrigger() [1/2]

double mc_control::Gripper::actualCommandDiffTrigger ( ) const

inline

Difference between the command and the reality that triggers the safety

◆ actualCommandDiffTrigger() [2/2]

void mc_control::Gripper::actualCommandDiffTrigger ( double d )

inline

Set safety trigger threshold (difference between the command and the reality)

This safety is meant to prevent over-torques on position controlled grippers with no torque readings by checking how far the encoder output is from the desired command. If it is over the limit, it can only stay there for overCommandLimitIterN iterations before being released

◆ clampQ()

double mc_control::Gripper::clampQ	(	size_t	activeJoint,
		double	q
	)

protected

Clamp an active joint value within its joint limits.

◆ complete()

bool mc_control::Gripper::complete ( ) const

Check if the gripper motion stopped moving.

The gripper will stop if

the desired motion is finished
the gripper encountered an obstacle and gripper safety was triggered. This is defined by an encoder error threshold (actualCommandDiffTrigger) and a maximum number of iterations where the gripper is allowed to be at this threshold (overCommandLimitIterN)

Returns: True if gripper is not moving, False if it is moving

◆ configure()

void mc_control::Gripper::configure ( const mc_rtc::Configuration & config )

Applies a new gripper configuration (safeties and targets)

◆ curOpening() [1/3]

std::vector<double> mc_control::Gripper::curOpening ( ) const

Get current opening percentage.

Returns: Current opening percentage of the active joints involved in the gripper

◆ curOpening() [2/3]

double mc_control::Gripper::curOpening ( const std::string & jointName ) const

Get the current opening of a single gripper joint.

Parameters

jointName Name of the active joint

Exceptions

std::runtime_error if the joint name does not match any of the gripper's active joints

Returns: The joint's current opening percentage

◆ curOpening() [3/3]

double mc_control::Gripper::curOpening ( size_t jointId ) const

protected

Current opening percentage of an active joint.

◆ curPosition() [1/2]

std::vector<double> mc_control::Gripper::curPosition ( ) const

Get current configuration.

Returns: Current values of the active joints involved in the gripper

◆ curPosition() [2/2]

double mc_control::Gripper::curPosition ( size_t jointId ) const

protected

Current position of an active joint.

◆ getTargetOpening()

double mc_control::Gripper::getTargetOpening ( const std::string & jointName ) const

Get the target opening of a single gripper joint.

Parameters

jointName Name of the active joint

Exceptions

std::runtime_error if the joint name does not match any of the gripper's active joints

Returns: The joint's target opening percentage

◆ getTargetQ() [1/3]

std::vector<double> mc_control::Gripper::getTargetQ ( ) const

Get the current gripper's target

Note: returns the current gripper position if no target has been set

◆ getTargetQ() [2/3]

double mc_control::Gripper::getTargetQ ( const std::string & jointName ) const

Get a joint's target angle

Exceptions

std::runtime_error if the joint name does not match any of the gripper's active joints

◆ getTargetQ() [3/3]

double mc_control::Gripper::getTargetQ ( size_t jointId ) const

protected

Target opening angle of an active joint.

◆ hasActiveJoint()

bool mc_control::Gripper::hasActiveJoint ( const std::string & jointName ) const

inline

◆ is_metric()

bool mc_control::Gripper::is_metric ( ) const

inlinenoexcept

Returns true if a gripper is metric, i.e. all active joints are prismatic rather than revolute.

This only affects safety settings in the GUI

◆ joints()

const std::vector<std::string>& mc_control::Gripper::joints ( ) const

inline

Returns all joints involved in the gripper.

◆ opening()

double mc_control::Gripper::opening ( ) const

Get the current opening percentage.

Note: Returns an average of the current opening percentage of each joint

Returns: Current opening percentage

◆ overCommandLimitIterN() [1/2]

unsigned int mc_control::Gripper::overCommandLimitIterN ( ) const

inline

Number of iterations where actualCommandDiffTrigger() threshold may be exceeded before the security is triggered

◆ overCommandLimitIterN() [2/2]

void mc_control::Gripper::overCommandLimitIterN ( unsigned int N )

inline

Number of iterations where actualCommandDiffTrigger() threshold may be exceeded before the security is triggered

◆ percentVMAX() [1/2]

double mc_control::Gripper::percentVMAX ( ) const

Get gripper speed (percentage of max velocity)

◆ percentVMAX() [2/2]

void mc_control::Gripper::percentVMAX ( double percent )

Set gripper speed as a percentage of maximum velocity

◆ q()

const std::vector<double>& mc_control::Gripper::q ( ) const

inline

Return all gripper joints configuration.

Returns: Current values of all the gripper's joints, including passive joints

◆ releaseSafetyOffset() [1/2]

double mc_control::Gripper::releaseSafetyOffset ( ) const

inline

Offset by which the gripper is release if overCommandDiffTrigger is trigger for more than overCommandLimitIterN

◆ releaseSafetyOffset() [2/2]

void mc_control::Gripper::releaseSafetyOffset ( double offset )

inline

Offset by which the gripper is released if overCommandDiffTrigger is trigger for more than overCommandLimitIterN

Parameters

offset offset angle in [rad] or distance in [meter]

◆ reset() [1/2]

void mc_control::Gripper::reset ( const Gripper & gripper )

Reset from another gripper.

Parameters

gripper Gripper used to reset this one

◆ reset() [2/2]

void mc_control::Gripper::reset ( const std::vector< double > & currentQ )

Reset the gripper state to the current actual state of the gripper.

Parameters

currentQ Current encoder values for the robot

◆ resetDefaults()

void mc_control::Gripper::resetDefaults ( )

Resets the gripper parameters to their default value (percentVMax, actualCommandDiffTrigger)

◆ restoreConfig()

void mc_control::Gripper::restoreConfig ( )

Restores the gripper configuration parameters from their saved value.

See also: saveConfig()

◆ reversed()

bool mc_control::Gripper::reversed ( ) const

inlinenoexcept

When true the gripper is considered "open" when the joints' values are minimal.

◆ run()

void mc_control::Gripper::run	(	double	timeStep,
		mc_rbdyn::Robot &	robot,
		mc_rbdyn::Robot &	real
	)

Run one iteration of control.

Parameters

robot	Robot for which this gripper control is running
real	Real robot for which this gripper control is running

The gripper control updates both the robot's configuration and the output

◆ saveConfig()

void mc_control::Gripper::saveConfig ( )

Saves the current gripper configuration parameters contained in Config.

◆ setTargetOpening() [1/3]

void mc_control::Gripper::setTargetOpening	(	const std::string &	jointName,
		double	targetOpening
	)

Set the target opening of a single gripper joint.

Parameters

jointName	Name of the active joint to move
targetOpening	Opening value ranging from 0 (closed) to 1 (open)

Exceptions

std::runtime_error if the joint name does not match any of the gripper's active joints

◆ setTargetOpening() [2/3]

void mc_control::Gripper::setTargetOpening ( double targetOpening )

Set the target opening of all gripper joints simultaneously.

Parameters

targetOpening Opening value ranging from 0 (closed) to 1 (open)

Note: If the individual joint targets were set manually, they will move to match this new opening target. Depending on the maximum allowed velocity, this may result in fast gripper joint motions. Use with care if the gripper is currently grasping objects or close to collisions with the environment.

◆ setTargetOpening() [3/3]

void mc_control::Gripper::setTargetOpening	(	size_t	activeJointId,
		double	targetOpening
	)

protected

Set the target opening of a single gripper joint by index.

Parameters

activeJointId	Index of the active joint
targetOpening	Opening value ranging from 0 (closed) to 1 (open)

◆ setTargetQ() [1/3]

void mc_control::Gripper::setTargetQ	(	const std::string &	jointName,
		double	targetQ
	)

Set the target configuration of the specified active joint.

Parameters

jointName	Name of the gripper's active joint to move
targetQ	Desired value of the active joint

Exceptions

std::runtime_error if the joint name does not match any of the gripper's active joints

◆ setTargetQ() [2/3]

void mc_control::Gripper::setTargetQ ( const std::vector< double > & targetQ )

Set the target configuration of the active joints involved in the gripper.

Parameters

targetQ Desired values of the active joints involved in the gripper

Exceptions

std::runtime_error If the targetQ size does not match the number of active joints

◆ setTargetQ() [3/3]

void mc_control::Gripper::setTargetQ	(	size_t	activeJointId,
		double	targetQ
	)

protected

Set the target configuration of the specified active joint.

Parameters

activeJointId	Index of the gripper's active joint to move
targetQ	Desired value of the active joint. Clamps the target within the joint limits.

◆ setTargetQ_() [1/2]

void mc_control::Gripper::setTargetQ_ ( const std::vector< double > & targetQ )

protected

Fast version of setTargetQ(std::vector<double>)

◆ setTargetQ_() [2/2]

void mc_control::Gripper::setTargetQ_	(	size_t	activeJoints,
		double	targetQ
	)

protected

Fast version of setTargetQ(size_t, double) without clamping.

◆ targetOpening()

double mc_control::Gripper::targetOpening ( size_t jointId ) const

protected

Target opening percentage of an active joint.

Member Data Documentation

◆ _q

std::vector<double> mc_control::Gripper::_q

protected

Full joints' values

◆ active_joints

std::vector<std::string> mc_control::Gripper::active_joints

protected

Name of active joints involved in the gripper

◆ active_joints_idx

std::vector<size_t> mc_control::Gripper::active_joints_idx

protected

Active joints indexes in the reference joint order

◆ actualQ

std::vector<double> mc_control::Gripper::actualQ

protected

Joints' values from the encoders

◆ closeP

std::vector<double> mc_control::Gripper::closeP

protected

Lower limits of active joints in the gripper (closed-gripper values)

◆ config_

Config mc_control::Gripper::config_

protected

Current configuration of the gripper parameters

◆ defaultConfig_

Config mc_control::Gripper::defaultConfig_

protected

Default configuration provided at construction

◆ is_metric_

bool mc_control::Gripper::is_metric_

protected

True if all joints are primatic

◆ joints_mbc_idx

std::vector<int> mc_control::Gripper::joints_mbc_idx

protected

All joint indexes in mbc, -1 if absent

◆ mult

std::vector<std::pair<size_t, double> > mc_control::Gripper::mult

protected

Mimic multiplier, first element is the joint to mimic, second is the multiplier

◆ names

std::vector<std::string> mc_control::Gripper::names

protected

Name of joints involved in the gripper

◆ offset

std::vector<double> mc_control::Gripper::offset

protected

Mimic offsets

◆ openP

std::vector<double> mc_control::Gripper::openP

protected

Upper limits of active joints in the gripper (open-gripper values)

◆ overCommandLimit

std::vector<bool> mc_control::Gripper::overCommandLimit

protected

True if the gripper has been too far from the command for over overCommandLimitIterN iterations

◆ overCommandLimitIter

std::vector<unsigned int> mc_control::Gripper::overCommandLimitIter

protected

Store the number of iterations where the gripper command was over the limit

◆ percentOpen

std::vector<double> mc_control::Gripper::percentOpen

protected

Current opening percentage

◆ reached_threshold_

std::vector<double> mc_control::Gripper::reached_threshold_

protected

Target reached threshold per-joint (0.001 rad for revolute and 0.0001 for prismatic joints)

◆ reversed_

bool mc_control::Gripper::reversed_ = false

protected

True if the gripper is reversed

◆ savedConfig_

Config mc_control::Gripper::savedConfig_

protected

Saved configuration of the parameters saved by saveConfig()

◆ targetQ

std::vector<double>* mc_control::Gripper::targetQ

protected

Current gripper target: NULL if target has been reached or safety was triggered

◆ targetQIn

std::vector<double> mc_control::Gripper::targetQIn

protected

Current gripper target

◆ vmax

std::vector<double> mc_control::Gripper::vmax

protected

Maximum velocity of active joints in the gripper

The documentation for this struct was generated from the following file:

include/mc_control/generic_gripper.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Config

Constructor & Destructor Documentation

◆ Gripper() [1/2]

◆ Gripper() [2/2]

Member Function Documentation

◆ activeJoints()

◆ actualCommandDiffTrigger() [1/2]

◆ actualCommandDiffTrigger() [2/2]

◆ clampQ()

◆ complete()

◆ configure()

◆ curOpening() [1/3]

◆ curOpening() [2/3]

◆ curOpening() [3/3]

◆ curPosition() [1/2]

◆ curPosition() [2/2]

◆ getTargetOpening()

◆ getTargetQ() [1/3]

◆ getTargetQ() [2/3]

◆ getTargetQ() [3/3]

◆ hasActiveJoint()

◆ is_metric()

◆ joints()

◆ opening()

◆ overCommandLimitIterN() [1/2]

◆ overCommandLimitIterN() [2/2]

◆ percentVMAX() [1/2]

◆ percentVMAX() [2/2]

◆ q()

◆ releaseSafetyOffset() [1/2]

◆ releaseSafetyOffset() [2/2]

◆ reset() [1/2]

◆ reset() [2/2]

◆ resetDefaults()

◆ restoreConfig()

◆ reversed()

◆ run()

◆ saveConfig()

◆ setTargetOpening() [1/3]

◆ setTargetOpening() [2/3]

◆ setTargetOpening() [3/3]

◆ setTargetQ() [1/3]

◆ setTargetQ() [2/3]

◆ setTargetQ() [3/3]

◆ setTargetQ_() [1/2]

◆ setTargetQ_() [2/2]

◆ targetOpening()

Member Data Documentation

◆ _q

◆ active_joints

◆ active_joints_idx

◆ actualQ

◆ closeP

◆ config_

◆ defaultConfig_

◆ is_metric_

◆ joints_mbc_idx

◆ mult

◆ names

◆ offset

◆ openP

◆ overCommandLimit

◆ overCommandLimitIter

◆ percentOpen

◆ reached_threshold_

◆ reversed_

◆ savedConfig_

◆ targetQ

◆ targetQIn

◆ vmax