concepts.hw_interface.franka.deoxys_server.DeoxysService#

class DeoxysService[source]#

Bases: Service

Methods

`call`(name, args, *kwargs)
`finalize`()
`from_setup_name`(name[, camera_configs, mock])
`get_all_qpos`()
`get_all_qvel`()
`get_captures`([robot_move_to])
`get_full_observation`()
`initialize`()
`run_multi_robot`(task[, activated_robots])
`serve_socket`([name, tcp_port])
`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_PORTS

__init__(robots, camera_configs=None, cameras=None, mock=False)[source]#

Parameters:

robots (Dict[int, object])
camera_configs (Dict[str, Dict[str, ndarray]] | None)
cameras (Dict[str, CaptureRS] | None)
mock (bool)

__new__(**kwargs)#

call(name, *args, **kwargs)[source]#

finalize()#

classmethod from_setup_name(name, camera_configs=None, mock=False)[source]#

Parameters:

name (str)
camera_configs (Dict[str, Dict[str, ndarray]] | None)
mock (bool)

get_all_qpos()[source]#

get_all_qvel()[source]#

get_captures(robot_move_to=None)[source]#

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

get_full_observation()[source]#

initialize()#

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

Parameters:

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

serve_socket(name=None, tcp_port=None)[source]#

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

Parameters:: steps (int)

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

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
compliance_traj (List[ndarray] | None)
cfg (Dict | 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_PORTS = (12347, 12348)#