concepts.dm.crowhat.robots.panda_robot_interfaces.PyBulletPandaRobotContactPrimitiveControllerInterface#

class PyBulletPandaRobotContactPrimitiveControllerInterface[source]#

Bases: PandaRobotContactPrimitiveControllerInterface

Methods

attach_physical_interface(physical_interface)

attach_simulation_interface(simulation_interface)

get_update_default_parameters(primitive, kwargs_)

Update the default parameters for a specific primitive.

grasp(approaching_trajectory[, width, force])

place(placing_trajectory, **kwargs)

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=None, timeout_multiplier=1.0)[source]#
Parameters:
__new__(**kwargs)#
attach_physical_interface(physical_interface)[source]#
Parameters:

physical_interface (PyBulletPhysicalControllerInterface) –

attach_simulation_interface(simulation_interface)[source]#
Parameters:

simulation_interface (PyBulletSimulationControllerInterface) –

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, **kwargs)[source]#
Parameters:
place(placing_trajectory, **kwargs)[source]#
Parameters:

placing_trajectory (RobotArmJointTrajectory) –

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: PyBulletPandaRobotPrimitiveControllerInterface#