Index

_

__init__() (pyzlg_dexhand.dexhand_interface.DexHandBase method) (pyzlg_dexhand.dexhand_interface.LeftDexHand method) (pyzlg_dexhand.dexhand_interface.RightDexHand method) (pyzlg_dexhand.dexhand_logger.DexHandLogger method) (pyzlg_dexhand.dexhand_logger.LogWriter method) (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method)

A

angle (pyzlg_dexhand.dexhand_interface.JointFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.MotorFeedback attribute)

arb (pyzlg_dexhand.zcan_wrapper.CANFDTimingConfig attribute)

B

BitTimingConfig (class in pyzlg_dexhand.zcan_wrapper) BoardError (class in pyzlg_dexhand.dexhand_protocol.messages) BoardFeedback (class in pyzlg_dexhand.dexhand_protocol.messages)

BoardID (class in pyzlg_dexhand.dexhand_protocol) BOTH_MOTORS_ERROR (pyzlg_dexhand.dexhand_protocol.messages.BoardError attribute) brp (pyzlg_dexhand.zcan_wrapper.BitTimingConfig attribute)

C

CANFDTimingConfig (class in pyzlg_dexhand.zcan_wrapper) CASCADED_PID (pyzlg_dexhand.dexhand_interface.ControlMode attribute) (pyzlg_dexhand.dexhand_protocol.commands.ControlMode attribute) channel (pyzlg_dexhand.dexhand_interface.HandConfig attribute) CLEAR_ERROR (pyzlg_dexhand.dexhand_protocol.commands.CommandType attribute) clear_errors() (pyzlg_dexhand.dexhand_interface.DexHandBase method) clear_message_history() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) ClearErrorCommand (class in pyzlg_dexhand.dexhand_protocol.commands) clock_hz (pyzlg_dexhand.zcan_wrapper.CANFDTimingConfig property) close() (pyzlg_dexhand.dexhand_interface.DexHandBase method) (pyzlg_dexhand.dexhand_logger.DexHandLogger method) (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapperBase method) command_type (pyzlg_dexhand.dexhand_logger.CommandLogEntry attribute)

CommandLogEntry (class in pyzlg_dexhand.dexhand_logger) CommandType (class in pyzlg_dexhand.dexhand_protocol.commands) CONFIG_COMMAND (pyzlg_dexhand.dexhand_protocol.MessageType attribute) CONFIG_FEEDBACK (pyzlg_dexhand.dexhand_protocol.commands.CommandType attribute) CONFIG_RESPONSE (pyzlg_dexhand.dexhand_protocol.MessageType attribute) configure_channel() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapperBase method) control_mode (pyzlg_dexhand.dexhand_logger.CommandLogEntry attribute) (pyzlg_dexhand.dexhand_protocol.commands.MotorCommand attribute) ControlMode (class in pyzlg_dexhand.dexhand_interface) (class in pyzlg_dexhand.dexhand_protocol.commands) CURRENT (pyzlg_dexhand.dexhand_interface.ControlMode attribute) (pyzlg_dexhand.dexhand_protocol.commands.ControlMode attribute) current (pyzlg_dexhand.dexhand_protocol.messages.MotorFeedback attribute)

D

data (pyzlg_dexhand.zcan_wrapper.CANFDTimingConfig attribute) description (pyzlg_dexhand.dexhand_protocol.messages.ErrorInfo attribute) DexHandBase (class in pyzlg_dexhand.dexhand_interface) DexHandLogger (class in pyzlg_dexhand.dexhand_logger)

direction (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute) dump_channel_state() (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) dump_frame() (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method)

E

enable (pyzlg_dexhand.dexhand_protocol.commands.FeedbackConfigCommand attribute) encode_command() (in module pyzlg_dexhand.dexhand_protocol.commands) encoder1 (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute) encoder2 (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute) encoder_position (pyzlg_dexhand.dexhand_interface.JointFeedback attribute) end_id (pyzlg_dexhand.zcan_wrapper.ZCANFilterConfig attribute) entry_type (pyzlg_dexhand.dexhand_logger.LogEntry attribute)

error (pyzlg_dexhand.dexhand_protocol.messages.ProcessedMessage attribute) ERROR (pyzlg_dexhand.zcan.ZCANStatus attribute) error_code (pyzlg_dexhand.dexhand_protocol.messages.ErrorInfo attribute) ERROR_MESSAGE (pyzlg_dexhand.dexhand_protocol.MessageType attribute) error_type (pyzlg_dexhand.dexhand_protocol.messages.ErrorInfo attribute) ErrorCode (class in pyzlg_dexhand.dexhand_protocol.messages) ErrorInfo (class in pyzlg_dexhand.dexhand_protocol.messages)

F

feedback (pyzlg_dexhand.dexhand_protocol.messages.ProcessedMessage attribute) FeedbackConfigCommand (class in pyzlg_dexhand.dexhand_protocol.commands)

FeedbackLogEntry (class in pyzlg_dexhand.dexhand_logger) FeedbackMode (class in pyzlg_dexhand.dexhand_protocol.commands)

G

get_errors() (pyzlg_dexhand.dexhand_interface.DexHandBase method)

get_feedback() (pyzlg_dexhand.dexhand_interface.DexHandBase method) get_message_history() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method)

H

HALL_POSITION (pyzlg_dexhand.dexhand_interface.ControlMode attribute) (pyzlg_dexhand.dexhand_protocol.commands.ControlMode attribute) hall_scale (pyzlg_dexhand.dexhand_interface.HandConfig attribute)

hand (pyzlg_dexhand.dexhand_logger.LogEntry attribute) HandConfig (class in pyzlg_dexhand.dexhand_interface) HandFeedback (class in pyzlg_dexhand.dexhand_interface) handle_error() (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method)

I

init() (pyzlg_dexhand.dexhand_interface.DexHandBase method)

INVALID (pyzlg_dexhand.dexhand_protocol.MessageType attribute)

J

joint_commands (pyzlg_dexhand.dexhand_logger.CommandLogEntry attribute) joint_names (pyzlg_dexhand.dexhand_interface.DexHandBase attribute)

JointFeedback (class in pyzlg_dexhand.dexhand_interface) joints (pyzlg_dexhand.dexhand_interface.HandFeedback attribute) (pyzlg_dexhand.dexhand_logger.FeedbackLogEntry attribute)

L

LEFT_HAND_BASE (pyzlg_dexhand.dexhand_protocol.BoardID attribute) LeftDexHand (class in pyzlg_dexhand.dexhand_interface) log_command() (pyzlg_dexhand.dexhand_logger.DexHandLogger method)

log_feedback() (pyzlg_dexhand.dexhand_logger.DexHandLogger method) LogEntry (class in pyzlg_dexhand.dexhand_logger) LogWriter (class in pyzlg_dexhand.dexhand_logger)

M

MessageType (class in pyzlg_dexhand.dexhand_protocol) MockZCANWrapper (class in pyzlg_dexhand.zcan_wrapper) mode (pyzlg_dexhand.dexhand_protocol.commands.FeedbackConfigCommand attribute) monitor_channel_status() (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) MOTION_COMMAND (pyzlg_dexhand.dexhand_protocol.MessageType attribute) MOTION_FEEDBACK (pyzlg_dexhand.dexhand_protocol.MessageType attribute) motor1 (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute) MOTOR1_CURRENT_OVERLOAD (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) MOTOR1_ERROR (pyzlg_dexhand.dexhand_protocol.messages.BoardError attribute) MOTOR1_HALL_ERROR (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) MOTOR1_PARAM_ERROR (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) motor1_pos (pyzlg_dexhand.dexhand_protocol.commands.MotorCommand attribute) MOTOR1_STALL_ERROR (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute)

motor2 (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute) MOTOR2_CURRENT_OVERLOAD (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) MOTOR2_ERROR (pyzlg_dexhand.dexhand_protocol.messages.BoardError attribute) MOTOR2_HALL_ERROR (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) MOTOR2_PARAM_ERROR (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) motor2_pos (pyzlg_dexhand.dexhand_protocol.commands.MotorCommand attribute) MOTOR2_STALL_ERROR (pyzlg_dexhand.dexhand_protocol.messages.ErrorCode attribute) MOTOR_COMMAND (pyzlg_dexhand.dexhand_protocol.commands.CommandType attribute) motor_enable (pyzlg_dexhand.dexhand_protocol.commands.MotorCommand attribute) MotorCommand (class in pyzlg_dexhand.dexhand_protocol.commands) MotorFeedback (class in pyzlg_dexhand.dexhand_protocol.messages) move_joints() (pyzlg_dexhand.dexhand_interface.DexHandBase method) msg_type (pyzlg_dexhand.dexhand_protocol.messages.ProcessedMessage attribute)

N

NORMAL (pyzlg_dexhand.zcan.ZCANMessageType attribute) normal_force (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute)

normal_force_delta (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute) NUM_BOARDS (pyzlg_dexhand.dexhand_interface.DexHandBase attribute) NUM_MOTORS (pyzlg_dexhand.dexhand_interface.DexHandBase attribute)

O

OFFLINE (pyzlg_dexhand.zcan.ZCANStatus attribute) OK (pyzlg_dexhand.zcan.ZCANStatus attribute) ON_CHANGE (pyzlg_dexhand.dexhand_protocol.commands.FeedbackMode attribute)

ONLINE (pyzlg_dexhand.zcan.ZCANStatus attribute) open() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapperBase method)

P

period_ms (pyzlg_dexhand.dexhand_protocol.commands.FeedbackConfigCommand attribute) PERIODIC (pyzlg_dexhand.dexhand_protocol.commands.FeedbackMode attribute) plot_session() (pyzlg_dexhand.dexhand_logger.DexHandLogger method) position (pyzlg_dexhand.dexhand_protocol.messages.MotorFeedback attribute) position_sensor1 (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute) position_sensor2 (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute)

process_message() (in module pyzlg_dexhand.dexhand_protocol.messages) ProcessedMessage (class in pyzlg_dexhand.dexhand_protocol.messages) PROTECT_HALL_POSITION (pyzlg_dexhand.dexhand_interface.ControlMode attribute) (pyzlg_dexhand.dexhand_protocol.commands.ControlMode attribute) proximity (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute)

Q

QUERY (pyzlg_dexhand.dexhand_protocol.commands.FeedbackMode attribute)

query_timestamp (pyzlg_dexhand.dexhand_interface.HandFeedback attribute)

R

receive_fd_messages() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapperBase method) reset_channel() (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method)

reset_joints() (pyzlg_dexhand.dexhand_interface.DexHandBase method) RIGHT_HAND_BASE (pyzlg_dexhand.dexhand_protocol.BoardID attribute) RightDexHand (class in pyzlg_dexhand.dexhand_interface) run() (pyzlg_dexhand.dexhand_logger.LogWriter method)

S

save_metadata() (pyzlg_dexhand.dexhand_logger.DexHandLogger method) SELF_TEST (pyzlg_dexhand.zcan.ZCANMessageType attribute) send_fd_message() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapperBase method) send_fd_messages() (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) sender_id (pyzlg_dexhand.dexhand_protocol.messages.ProcessedMessage attribute) set_feedback_mode() (pyzlg_dexhand.dexhand_interface.DexHandBase method) set_filter() (pyzlg_dexhand.zcan_wrapper.MockZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapper method) (pyzlg_dexhand.zcan_wrapper.ZCANWrapperBase method)

SINGLE (pyzlg_dexhand.zcan.ZCANMessageType attribute) SINGLE_SELF_TEST (pyzlg_dexhand.zcan.ZCANMessageType attribute) sjw (pyzlg_dexhand.zcan_wrapper.BitTimingConfig attribute) SPEED (pyzlg_dexhand.dexhand_interface.ControlMode attribute) (pyzlg_dexhand.dexhand_protocol.commands.ControlMode attribute) StampedTactileFeedback (class in pyzlg_dexhand.dexhand_interface) start_id (pyzlg_dexhand.zcan_wrapper.ZCANFilterConfig attribute) stop() (pyzlg_dexhand.dexhand_logger.LogWriter method)

T

tactile (pyzlg_dexhand.dexhand_interface.HandFeedback attribute) (pyzlg_dexhand.dexhand_logger.FeedbackLogEntry attribute) (pyzlg_dexhand.dexhand_protocol.messages.BoardFeedback attribute) TactileFeedback (class in pyzlg_dexhand.dexhand_protocol.messages) tangential_force (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute) tangential_force_delta (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute)

temperature (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_protocol.messages.TactileFeedback attribute) timestamp (pyzlg_dexhand.dexhand_interface.JointFeedback attribute) (pyzlg_dexhand.dexhand_interface.StampedTactileFeedback attribute) (pyzlg_dexhand.dexhand_logger.LogEntry attribute) tseg1 (pyzlg_dexhand.zcan_wrapper.BitTimingConfig attribute) tseg2 (pyzlg_dexhand.zcan_wrapper.BitTimingConfig attribute) type (pyzlg_dexhand.zcan_wrapper.ZCANFilterConfig attribute)

U

UNKNOWN (pyzlg_dexhand.dexhand_protocol.MessageType attribute)

UNSUPPORTED (pyzlg_dexhand.zcan.ZCANStatus attribute)

V

velocity (pyzlg_dexhand.dexhand_protocol.messages.MotorFeedback attribute)

Z

ZCAN_CANDTU_MINI (pyzlg_dexhand.zcan.ZCANDeviceType attribute) ZCAN_USBCAN_2E_U (pyzlg_dexhand.zcan.ZCANDeviceType attribute) ZCAN_USBCANFD_100U (pyzlg_dexhand.zcan.ZCANDeviceType attribute) ZCAN_USBCANFD_200U (pyzlg_dexhand.zcan.ZCANDeviceType attribute) ZCANDeviceType (class in pyzlg_dexhand.zcan) ZCANFilterConfig (class in pyzlg_dexhand.zcan_wrapper)

ZCANMessageType (class in pyzlg_dexhand.zcan) ZCANStatus (class in pyzlg_dexhand.zcan) ZCANWrapper (class in pyzlg_dexhand.zcan_wrapper) ZCANWrapperBase (class in pyzlg_dexhand.zcan_wrapper) ZERO_TORQUE (pyzlg_dexhand.dexhand_interface.ControlMode attribute) (pyzlg_dexhand.dexhand_protocol.commands.ControlMode attribute)