pycram.ros_utils.force_torque_sensor

Classes

ForceTorqueSensorSimulated	Simulated force-torque sensor for a joint with a given name.
ForceTorqueSensor	Monitor a force-torque sensor of a supported robot and save relevant data.

Module Contents

class pycram.ros_utils.force_torque_sensor.ForceTorqueSensorSimulated(joint_name, fts_topic='/pycram/fts', interval=0.1)

Simulated force-torque sensor for a joint with a given name. Reads simulated forces and torques at that joint from world and publishes geometry_msgs/Wrench messages to the given topic.

world

fts_joint_idx = None

joint_name

fts_pub

interval = 0.1

kill_event

thread

_publish() → None

Continuously publishes the force-torque values for the simulated joint. Values are published as long as the kill_event is not set.

_stop_publishing() → None

Sets the kill_event and therefore terminates the Thread publishing the force-torque values as well as join the threads.

class pycram.ros_utils.force_torque_sensor.ForceTorqueSensor(robot_name, filter_config=FilterConfig.butterworth, filter_order=4, custom_topic=None, debug=False)

Monitor a force-torque sensor of a supported robot and save relevant data.

Apply a specified filter and save this data as well. Default filter is the low pass filter ‘Butterworth’

Can also calculate the derivative of (un-)filtered data

Parameters:

• robot_name – Name of the robot

• filter_config – Desired filter (default: Butterworth)

• filter_order – Order of the filter. Declares the number of elements that delay the sampling

• custom_topic – Declare a custom topic if the default topics do not fit

filtered = 'filtered'

unfiltered = 'unfiltered'

robot_name

filter_config

filter

debug = False

wrench_topic_name = None

force_torque_subscriber = None

init_data = True

whole_data = None

prev_values = None

order = 4

_setup()

_get_robot_parameters()

_get_rospy_data(data_compensated: geometry_msgs.msg.WrenchStamped)

_get_filter(order=4, cutoff=10, fs=60)

_filter_data(current_wrench_data: geometry_msgs.msg.WrenchStamped) → geometry_msgs.msg.WrenchStamped

subscribe()

Subscribe to the specified wrench topic.

This will automatically be called on setup. Only use this if you already unsubscribed before.

unsubscribe()

Unsubscribe from the specified topic

get_last_value(is_filtered=True) → geometry_msgs.msg.WrenchStamped

Get the most current data values.

Parameters:

is_filtered – Decides about using filtered or raw data

Returns:

A list containing the most current values (newest are first)

get_derivative(is_filtered=True) → geometry_msgs.msg.WrenchStamped

Calculate the derivative of current data.

Parameters:

is_filtered – Decides about using filtered or raw data.

Returns:

The derivative as a WrenchStamped object. Returns a zeroed derivative if only one data point exists.

human_touch_monitoring()