concepts.dm.crowhat.robots.robot_interfaces.ContactPrimitiveRobotControlInterface#

class ContactPrimitiveRobotControlInterface[source]#

Bases: RobotControllerInterfaceBase

The contact-aware primitive-level robot control interface. It abstracts over the primitive joint-level control interfaces and provides additional interfaces for controlling how the robot end-effector makes contact with a single object.

grasping
pushing
placing

Methods

`get_update_default_parameters`(primitive, kwargs_)	Update the default parameters for a specific primitive.
`set_default_parameters`(primitive, **kwargs)	Set the default parameters for a specific primitive.

Attributes

default_parameters

Get the default parameters for each primitive.

__init__()#

__new__(**kwargs)#

get_update_default_parameters(primitive, kwargs_)#

Update the default parameters for a specific primitive.

Parameters:

primitive (str)
kwargs_ (Dict[str, Any])

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.