gripper_configuration

Attributes

TGripperConfiguration

The configuration type a motion or mapping is bound to; concrete consumers bind it to

Classes

GripperConfiguration	A configuration a gripper can be commanded into.
GripperStateConfiguration	The configuration a robot description already declares for a gripper, selected by

Module Contents

gripper_configuration.TGripperConfiguration

The configuration type a motion or mapping is bound to; concrete consumers bind it to one configuration subclass.

class gripper_configuration.GripperConfiguration

Bases: krrood.patterns.subclass_safe_generic.SubClassSafeGeneric, abc.ABC, Generic[TGripperConfiguration]

A configuration a gripper can be commanded into.

Carries the end effector the configuration configures and the joint positions to reach, so both the action and the motion that consume it share one object instead of resolving the end effector and looking up the joint state independently.

end_effector: semantic_digital_twin.robots.robot_parts.EndEffector

The end effector this configuration configures.

joint_state: semantic_digital_twin.datastructures.joint_state.JointState

The positions the end effector’s connections are commanded to.

finger_velocity: float | None = None

Maximum finger joint velocity (in m/s) enforced during the motion.

None leaves the speed unconstrained.

classmethod from_state_type(end_effector: semantic_digital_twin.robots.robot_parts.EndEffector, state_type: semantic_digital_twin.datastructures.definitions.GripperState) → Self

Parameters:

• end_effector – The end effector whose declared state is used.

• state_type – The state type to build the configuration for.

Returns:

The configuration for the declared state of the given type.

Raises:

NoJointStateWithType – If the end effector declares no such state.

class gripper_configuration.GripperStateConfiguration

Bases: GripperConfiguration

The configuration a robot description already declares for a gripper, selected by its GripperState.