concepts.dm.crowhat.robots.panda_robot_interfaces.PhysicalPandaRobotPrimitiveControllerInterface#

class PhysicalPandaRobotPrimitiveControllerInterface[source]#

Bases: PandaRobotPrimitiveControllerInterface

Methods

close_gripper(**kwargs)

get_ee_pose()

get_qpos()

get_qvel()

get_update_default_parameters(primitive, kwargs_)

Update the default parameters for a specific primitive.

grasp([width, force])

move_home()

move_qpos(qpos, **kwargs)

move_qpos_trajectory(trajectory, **kwargs)

open_gripper(**kwargs)

set_default_parameters(primitive, **kwargs)

Set the default parameters for a specific primitive.

Attributes

default_parameters

Get the default parameters for each primitive.

panda_robot

__init__(panda_robot)[source]#
Parameters:

panda_robot (FrankaRemoteClient) –

__new__(**kwargs)#
close_gripper(**kwargs)[source]#
Return type:

None

get_ee_pose()[source]#
Return type:

Tuple[ndarray, ndarray]

get_qpos()[source]#
Return type:

ndarray

get_qvel()[source]#
Return type:

ndarray

get_update_default_parameters(primitive, kwargs_)#

Update the default parameters for a specific primitive.

Parameters:
Return type:

None

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

None

move_home()[source]#
Return type:

bool

move_qpos(qpos, **kwargs)[source]#
Parameters:

qpos (ndarray) –

Return type:

None

move_qpos_trajectory(trajectory, **kwargs)[source]#
Parameters:

trajectory (RobotArmJointTrajectory) –

Return type:

None

open_gripper(**kwargs)[source]#
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 panda_robot: FrankaRemoteClient#