feathersdk.robot.actuator_systems.manipulation_system Module

class feathersdk.robot.actuator_systems.manipulation_system.ManipulationSystemConfig(*, module_name='manipulation_system', requires_urdf=False, safe_stop_policy=SafeStopPolicy.CANNOT_ENTER_SAFE_STOP, operating_frequency=30, actuators_share_same_endpoint=True)

Bases: ActuatorSystemConfig

Configuration for the manipulation system.

Parameters:
module_name: str

The name of the actuator system.

model_config: ClassVar[ConfigDict] = {'frozen': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.actuator_systems.manipulation_system.TManipulationSystemConfig

Type variable for the manipulation system configuration.

alias of TypeVar(‘TManipulationSystemConfig’, bound=ManipulationSystemConfig)

class feathersdk.robot.actuator_systems.manipulation_system.ManipulationSystem(config, *args, **kwargs)

Bases: ActuatorSystem[TManipulationSystemConfig, TActuator], Generic[TManipulationSystemConfig, TActuator]

A manipulation system.

Parameters:
class feathersdk.robot.actuator_systems.manipulation_system.RealHandManipulationSystemConfig(*, module_name='manipulation_system', requires_urdf=False, safe_stop_policy=SafeStopPolicy.CANNOT_ENTER_SAFE_STOP, operating_frequency=30, actuators_share_same_endpoint=False, left_hand, right_hand)

Bases: ManipulationSystemConfig

Configuration for a RealHand manipulation system.

Parameters:
left_hand: RealHandConfig

The configuration for the left hand.

right_hand: RealHandConfig

The configuration for the right hand.

actuators_share_same_endpoint: bool

Whether the actuators share the same endpoint.

model_config: ClassVar[ConfigDict] = {'frozen': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.actuator_systems.manipulation_system.RealHandManipulationSystem(config, *args, **kwargs)

Bases: ManipulationSystem[RealHandManipulationSystemConfig, RealHand]

Platform for controlling RealHand hands

Parameters:
left_hand: RealHand

The left hand.

right_hand: RealHand

The right hand.

recalibrate(allow_load=None)

System is always calibrated

Parameters:

allow_load (bool | None)