concepts.hw_interface.rby1a.server.RBY1AUPCInterface#

class RBY1AUPCInterface[source]#

Bases: Service

Methods

call(name, *args, **kwargs)

connect([init_camera, init_grippers, devices])

disconnect()

finalize()

get_captures()

get_captures_compressed()

get_qpos()

get_qvel()

get_vector_qpos()

initialize()

maybe_reset_controller(controller)

move_gripper_percent_trajectory(...)

move_gripper_qpos_trajectory(gripper_name, ...)

move_qpos(qpos[, timeout, min_time, ...])

move_qpos_trajectory(trajectory[, dt, ...])

move_zero([min_time])

power_off()

power_on([devices])

reset_stream([controller])

send_command(command, timeout)

serve_socket([name, tcp_port])

start_visualizer()

Attributes

DEFAULT_CONFIGS

DEFAULT_PRIORITY

DEFAULT_ROBOT_ADDRESS

RS_SERIAL_NUMBER

USE_STREAM_INTERFACE

address

camera

connected

gripper_controller

has_camera

has_gripper_controller

pb_robot

robot

__init__(connect=True, init_camera=True, init_grippers=True, address=DEFAULT_ROBOT_ADDRESS, priority=DEFAULT_PRIORITY, devices=None)[source]#
Parameters:

  • connect (bool)

  • init_camera (bool)

  • init_grippers (bool)

  • address (str)

  • priority (int)

  • devices (str | None)

__new__(**kwargs)#
call(name, *args, **kwargs)[source]#
connect(init_camera=True, init_grippers=True, devices=None)[source]#
Parameters:

  • init_camera (bool)

  • init_grippers (bool)

  • devices (str | None)

disconnect()[source]#
finalize()#
get_captures()[source]#
Return type:

Dict[str, Dict[str, ndarray]]

get_captures_compressed()[source]#
Return type:

Dict[str, bytes]

get_qpos()[source]#
Return type:

Dict[str, ndarray]

get_qvel()[source]#
Return type:

Dict[str, ndarray]

get_vector_qpos()[source]#
Return type:

ndarray

initialize()#
maybe_reset_controller(controller)[source]#
Parameters:

controller (str)

move_gripper_percent_trajectory(gripper_name, gripper_percent_trajectory)[source]#
Parameters:

  • gripper_name (str)

  • gripper_percent_trajectory (list[float])

move_gripper_qpos_trajectory(gripper_name, trajectory)[source]#
Parameters:
move_qpos(qpos, timeout=6, min_time=3, finish_atol=1e-3, command_timeout=1.0)[source]#
Parameters:
move_qpos_trajectory(trajectory, dt=0.5, min_time_multiplier=5, first_min_time=None, command_timeout=1.0)[source]#
Parameters:
move_zero(min_time=10)[source]#
Parameters:

min_time (float)

power_off()[source]#
power_on(devices=None)[source]#
Parameters:

devices (str | None)

reset_stream(controller='joint_impedance')[source]#
Parameters:

controller (str)

send_command(command, timeout)[source]#
serve_socket(name=None, tcp_port=None)[source]#
start_visualizer()[source]#
DEFAULT_CONFIGS = {'default.acceleration_limit_scaling': '0.8', 'joint_position_command.cutoff_frequency': '5'}#
DEFAULT_PRIORITY = 10#
DEFAULT_ROBOT_ADDRESS = '192.168.30.1:50051'#
RS_SERIAL_NUMBER = '231122072622'#
USE_STREAM_INTERFACE = True#
property address: str#
property camera: CaptureRS#
property connected: bool#
property gripper_controller: RainbowGripperController#
property has_camera: bool#
property has_gripper_controller: bool#
property pb_robot: RBY1ARobot#
property robot: rby1_sdk.Robot_A#
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