concepts.dm.crowhat.world.manipulator_interface.SingleArmControllerInterface

class SingleArmControllerInterface

Bases: RobotControllerInterfaceBase

Methods

close_gripper()
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_grasp(approaching_trajectory[, width, ...])
move_home()
move_place(placing_trajectory)
move_qpos(qpos)
move_qpos_trajectory(trajectory)
open_gripper()
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)

close_gripper()

Return type:

None

get_ee_pose()

Return type:

Tuple[ndarray, ndarray]

get_qpos()

Return type:

ndarray

get_qvel()

Return type:

ndarray

get_update_default_parameters(primitive, kwargs_)

Update the default parameters for a specific primitive.

Parameters:

• primitive (str)

• kwargs_ (Dict[str, Any])

Return type:

None

grasp(width=0.05, force=40)

Parameters:

• width (float)

• force (float)

Return type:

None

move_grasp(approaching_trajectory, width=0.05, force=40)

Parameters:

• approaching_trajectory (RobotArmJointTrajectory)

• width (float)

• force (float)

Return type:

None

move_home()

Return type:

bool

move_place(placing_trajectory)

Parameters:

placing_trajectory (RobotArmJointTrajectory)

Return type:

None

move_qpos(qpos)

Parameters:

qpos (ndarray)

Return type:

None

move_qpos_trajectory(trajectory)

Parameters:

trajectory (RobotArmJointTrajectory)

Return type:

None

open_gripper()

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.