concepts.hw_interface.franka.deoxys_server.MultiRobotTaskBuilder

class MultiRobotTaskBuilder

Bases: object

Methods

close_gripper([steps])
get_tasks()
move_qpos(tasks[, configs])
move_qpos_trajectorry(tasks[, configs])
open_gripper([steps])
run(interface[, activated_robots])
run_remote(client[, activated_robots])
thread_run(interface, index, barriers)

__init__(tasks=None)

Parameters:

tasks (List[Tuple[str, object]] | None)

__new__(**kwargs)

close_gripper(steps=100)

Parameters:

steps (int)

get_tasks()

move_qpos(tasks, configs=None)

Parameters:

• tasks (Dict[int, ndarray])

• configs (Dict[int, Dict] | None)

move_qpos_trajectorry(tasks, configs=None)

Parameters:

• tasks (Dict[int, List[ndarray]])

• configs (Dict[int, Dict] | None)

open_gripper(steps=100)

Parameters:

steps (int)

run(interface, activated_robots=None)

Parameters:

• interface (DeoxysService)

• activated_robots (List[int] | None)

run_remote(client, activated_robots=None)

Parameters:

• client (DeoxysClient)

• activated_robots (List[int] | None)

thread_run(interface, index, barriers)

Parameters:

• interface (DeoxysService)

• index (int)

• barriers (List)