concepts.dm.crowhat.robots.panda_robot_interfaces.PandaRobotContactPrimitiveControllerInterface#

class PandaRobotContactPrimitiveControllerInterface[source]#

Bases: ContactPrimitiveRobotControlInterface

Methods

get_update_default_parameters(primitive, kwargs_)

Update the default parameters for a specific primitive.

grasp(approaching_trajectory[, width, force])

place(placing_trajectory)

set_default_parameters(primitive, **kwargs)

Set the default parameters for a specific primitive.

Attributes

default_parameters

Get the default parameters for each primitive.

primitive_interface

__init__(primitive_interface)[source]#
Parameters:

primitive_interface (PandaRobotPrimitiveControllerInterface) –

__new__(**kwargs)#
get_update_default_parameters(primitive, kwargs_)#

Update the default parameters for a specific primitive.

Parameters:
Return type:

None

grasp(approaching_trajectory, width=0.05, force=40)[source]#
Parameters:
Return type:

None

place(placing_trajectory)[source]#
Parameters:

placing_trajectory (RobotArmJointTrajectory) –

Return type:

None

set_default_parameters(primitive, **kwargs)#

Set the default parameters for a specific primitive.

Parameters:

primitive (str) –

property default_parameters: Dict[str, Dict[str, Any]]#

Get the default parameters for each primitive.

property primitive_interface: PandaRobotPrimitiveControllerInterface#