Package edu.tufts.hrilab.manipulator.generic

Class GenericManipulator

java.lang.Object
edu.tufts.hrilab.manipulator.generic.GenericManipulator
Direct Known Subclasses:
FetchGripper, PR2BothGrippers, PR2LeftGripper, PR2RightGripper, RobotiqGripper_2f_85
public abstract class GenericManipulator extends Object

  • Field Details

    • maxGraspWidthMeters

      public float maxGraspWidthMeters

    • log

      protected org.slf4j.Logger log

  • Constructor Details

    • GenericManipulator

      public GenericManipulator()

  • Method Details

    • moveGripper

      public abstract boolean moveGripper(float position)
      Move the gripper. `position` represents a position in meters. 0.0 is closed, and 0.05 is open 5 cm.

    • getCurrentGripperPosition

      public abstract float getCurrentGripperPosition()
      Return the current gripper position, using the same concept of `position` from moveGripper().

    • getGoalGripperPosition

      public abstract float getGoalGripperPosition()
      Return the goal gripper position, if known, in meters. 0.0 is closed, and 0.05 is open 5 cm.

    • getCurrentGripperEffort

      public abstract float getCurrentGripperEffort()
      Return the current effort, if known

    • shutdown

      public abstract void shutdown()
      Shut down any threads or nodes to make everything nice and clean.

    • instantiateGenericManipulator

      public static GenericManipulator instantiateGenericManipulator(String classPath)
      Instantiate the target GenericManipulator class. Will return null if the class could not be instantiated.
      Parameters:
      classPath - fully qualified class path
      Returns:

    • graspToDistance

      public int graspToDistance(Grasp grasp)
      From a Grasp object, get the distance between the two grasp points in millimeters.