robots.adapt¶

ADAPT finger and hand: tendon-driven phalanges, the last two joints of each finger coupled.

Module Attributes

`LINK_LENGTHS`	Proximal, middle and distal phalanx [m], from the MCP joint to the fingertip.
`COUPLING`	Joint angles (MCP, PIP, DIP) = COUPLING · motor angles, at the default transmission.
`JOINT_AXES`	Axes of the MCP, PIP and DIP joints in the finger's base frame.
`LINK_MASSES`	Masses of the three phalanges [kg].
`LINK_COGS`	Centers of gravity in each phalanx's frame [m].
`GRAVITY`	Gravity in the finger's base frame [m/s²], as mounted (the frame's z axis points down).
`JOINT_LIMITS`	Joint ranges [rad].
`MOTOR_EFFICIENCY`	Delivered over commanded torque of the two motors (MCP, PIP), a static calibration for force estimates.
`FINGER_MOTOR_IDS`	Bus IDs of the finger's motors (MCP, PIP).
`HAND_PALM_ORIGIN`	Palm origin in the hand base frame [m] (the wrist is held rigid at zero).
`HAND_FINGER_BASES`	Base of each digit relative to the palm [m].
`HAND_JOINTS`	name, origin in the parent link frame [m], axis in the joint frame.
`HAND_TIP_OFFSETS`	Fingertip in the last joint frame [m].
`HAND_FINGER_TRANSMISSIONS`	Motor pulley, finger pulley and PIP cable constant of each finger [m].
`HAND_THUMB_TRANSMISSION`	Motor pulley, CMC pulleys and MCP/IP cable constants of the thumb [m].
`HAND_SPREAD_CORRECTION`	Spread angle of each finger = spread motor angle · correction · ratio.
`HAND_LINK_MASSES`	Link masses [kg].
`HAND_LINK_COGS`	Center of gravity of each link in its frame [m].
`HAND_JOINT_LIMITS`	Joint ranges [rad].
`HAND_MOTOR_EFFICIENCY`	a static calibration, like `MOTOR_EFFICIENCY`.
`HAND_MOTOR_IDS`	Bus ID of each hand motor.
`HAND_WRIST_IDS`	Bus IDs of the wrist motors, held at their start position.
`HAND_MOTORS`	Motor order of the hand (the wrist motors 13 and 14 are position-controlled, not modelled).
`HAND_GRAVITY`	Gravity in the hand base frame [m/s²] when the hand is upright; on an arm, keep it live.

Functions

`add_dynamics`(robot[, damping])	Give the finger or the hand its gravity, for simulation.
`add_hand_masses`(robot[, prefix, link_masses])	Add the hand's link masses [kg] at the sites `"{prefix}<digit>/<link>_cog"`; `link_masses` overrides `HAND_LINK_MASSES` by key.
`finger`([name, gravity, link_lengths, ...])	The finger as a robot mechanism; q holds the two motor angles [rad].
`finger_coupling`([motor_radius, ...])	Joint angles (MCP, PIP, DIP) per motor angle; the DIP joint mimics the PIP joint.
`finger_friction`([width])	The static friction of the finger's motors, from the lab's friction identification: the breakaway torque is `FRICTION[0]` and none is left once they move.
`finger_hardware`()	The finger's motors.
`hand`([name, gravity, link_masses, efficiency])	The hand as a robot: q holds the 13 motor angles [rad] in `HAND_MOTORS` order.
`hand_coupling`(*[, finger_transmissions, ...])	Joint angles (20: thumb CMC1, CMC2, MCP, IP; each finger spread, MCP, PIP, DIP) per motor.
`hand_friction`([width])	The static friction of the hand's motors, as `finger_friction` for the finger, with `HAND_FRICTION[0]` as the breakaway torque.
`hand_gravity`(R_flange[, mounting_angle, g_world])	Gravity in the hand base frame [m/s²] for a flange orientation R_flange (world frame).
`hand_hardware`()	The hand's motors in `HAND_MOTORS` order and the held wrist; a driver publishes the 13 motors in the order of their IDs.
`hand_joint_angles`(robot)	Coordinate of the hand's 20 joint angles [rad] (see `hand_coupling` for the order).
`hand_joint_limit_spring`(robot[, stiffness, ...])	Springs that push each of the 20 joints back inside its range; `limits` [rad] overrides `HAND_JOINT_LIMITS` by key, `joints` is the hand's own `joints` override.
`hand_model`(*[, palm_origin, finger_bases, ...])	The hand's kinematics: five digit chains in the hand base frame, coupled to 13 motors.
`hand_output_stage`()	The hand's output stage: friction compensation, then a torque clip.
`joint_angles`(robot)	Coordinate of the three joint angles (MCP, PIP, DIP) [rad] of a finger.
`joint_limit_spring`(robot[, stiffness, limits])	A spring that pushes each joint back inside its range (zero force inside); `limits` [rad] overrides ranges by joint name ("MCP", "PIP", "DIP").
`output_stage`()	The finger's output stage: friction compensation, then a torque clip.