concepts.dm.crowhat.robots.panda_robot_interfaces.PyBulletPandaRobotPrimitiveControllerInterface#

class PyBulletPandaRobotPrimitiveControllerInterface[source]#

Bases: PandaRobotPrimitiveControllerInterface

Methods

attach_physical_interface(physical_interface)

attach_simulation_interface(simulation_interface)

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(**kwargs)

move_pose(pos, quat, **kwargs)

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]#
__new__(**kwargs)#
attach_physical_interface(physical_interface)[source]#
Parameters:

physical_interface (PyBulletPhysicalControllerInterface) –

attach_simulation_interface(simulation_interface)[source]#
Parameters:

simulation_interface (PyBulletSimulationControllerInterface) –

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

None

move_pose(pos, quat, **kwargs)[source]#
Parameters:
Return type:

None

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: PandaRobot#