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:
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.