concepts.hw_interface.franka.deoxys_server.DeoxysClient#

class DeoxysClient[source]#

Bases: object

Methods

`close_gripper`([steps])
`get_all_qpos`()
`get_all_qvel`()
`get_captures`([robot_move_to])
`get_qpos`()
`get_qvel`()
`move_ee_trajectory`(ee_traj[, cfg, ...])
`move_home`([gripper_open, gripper_close])
`move_qpos`(q[, cfg, gripper_open, gripper_close])
`move_qpos_trajectory`(q[, cfg, ...])
`open_gripper`([steps])
`run_multi_robot`(task[, activated_robots])
`single_close_gripper`(robot_index[, steps])
`single_move_ee_trajectory`(robot_index, ee_traj)
`single_move_home`(robot_index[, ...])
`single_move_qpos`(robot_index, q[, cfg, ...])
`single_move_qpos_trajectory`(robot_index, q)
`single_open_gripper`(robot_index[, steps])

Attributes

DEFAULT_ROBOT_INDEX

__init__(server, ports=None)[source]#

Parameters:

server (str)
ports (Tuple[int, int] | None)

__new__(**kwargs)#

close_gripper(steps=100)[source]#

Parameters:: steps (int)

get_all_qpos()[source]#

get_all_qvel()[source]#

get_captures(robot_move_to=None)[source]#

Parameters:: robot_move_to (Dict[int, ndarray] | None)

get_qpos()[source]#

get_qvel()[source]#

move_ee_trajectory(ee_traj, cfg=None, num_additional_steps=0, compliance_traj=None, gripper_open=None, gripper_close=None)[source]#

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
cfg (Dict | None)
num_additional_steps (int)
compliance_traj (List[ndarray] | None)
gripper_open (bool | None)
gripper_close (bool | None)

move_home(gripper_open=None, gripper_close=None)[source]#

Parameters:

gripper_open (bool | None)
gripper_close (bool | None)

move_qpos(q, cfg=None, gripper_open=None, gripper_close=None)[source]#

Parameters:

q (ndarray)
cfg (Dict | None)
gripper_open (bool | None)
gripper_close (bool | None)

move_qpos_trajectory(q, cfg=None, num_addition_steps=0, gripper_open=None, gripper_close=None, residual_tau_translation=None)[source]#

Parameters:

q (List[ndarray])
cfg (Dict | None)
num_addition_steps (int)
gripper_open (bool | None)
gripper_close (bool | None)
residual_tau_translation (ndarray | None)

open_gripper(steps=100)[source]#

Parameters:: steps (int)

run_multi_robot(task, activated_robots=None)[source]#

Parameters:

task (List[Tuple[str, object]])
activated_robots (List[int] | None)

single_close_gripper(robot_index, steps=100)[source]#

Parameters:: steps (int)

single_move_ee_trajectory(robot_index, ee_traj, cfg=None, compliance_traj=None, gripper_open=None, gripper_close=None)[source]#

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
cfg (Dict | None)
compliance_traj (List[ndarray] | None)
gripper_open (bool | None)
gripper_close (bool | None)

single_move_home(robot_index, gripper_open=None, gripper_close=None)[source]#

Parameters:

robot_index (int)
gripper_open (bool | None)
gripper_close (bool | None)

single_move_qpos(robot_index, q, cfg=None, gripper_open=None, gripper_close=None)[source]#

Parameters:

robot_index (int)
q (ndarray)
cfg (Dict | None)
gripper_open (bool | None)
gripper_close (bool | None)

single_move_qpos_trajectory(robot_index, q, cfg=None, num_addition_steps=0, gripper_open=None, gripper_close=None, residual_tau_translation=None)[source]#

Parameters:

robot_index (int)
q (List[ndarray])
cfg (Dict | None)
num_addition_steps (int)
gripper_open (bool | None)
gripper_close (bool | None)
residual_tau_translation (ndarray | None)

single_open_gripper(robot_index, steps=100)[source]#

Parameters:: steps (int)

DEFAULT_ROBOT_INDEX = 1#