concepts.dm.crowhat.impl.franka.fri_crowhat_interface.PandaControllerInterface#

class PandaControllerInterface[source]#

Bases: SingleArmControllerInterface

Methods

`attach_physical_interface`(physical_interface)
`close_gripper`(**kwargs)
`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, **kwargs)
`move_qpos`(qpos, **kwargs)
`move_qpos_trajectory`(trajectory, **kwargs)
`open_gripper`(**kwargs)
`set_default_parameters`(primitive, **kwargs)	Set the default parameters for a specific primitive.

Attributes

`default_parameters`	Get the default parameters for each primitive.
`panda_robot`

__init__(panda_robot)[source]#

Parameters:: panda_robot (FrankaRemoteClient)

__new__(**kwargs)#

attach_physical_interface(physical_interface)[source]#

Parameters:: physical_interface (CrowPhysicalControllerInterface)

close_gripper(**kwargs)[source]#

Return type:: None

get_ee_pose()[source]#

Return type:: Tuple[ndarray, ndarray]

get_qpos()[source]#

Return type:: ndarray

get_qvel()[source]#

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, **kwargs)[source]#

Parameters:

width (float)
force (float)

Return type:

None

move_grasp(approaching_trajectory, width=0.05, force=40, **kwargs)[source]#

Parameters:

approaching_trajectory (RobotArmJointTrajectory)
width (float)
force (float)

Return type:

None

move_home()[source]#

Return type:: bool

move_place(placing_trajectory, **kwargs)[source]#

Parameters:: placing_trajectory (RobotArmJointTrajectory)
Return type:: None

move_qpos(qpos, **kwargs)[source]#

Parameters:: qpos (ndarray)
Return type:: None

move_qpos_trajectory(trajectory, **kwargs)[source]#

Parameters:: trajectory (RobotArmJointTrajectory)
Return type:: None

open_gripper(**kwargs)[source]#

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.

property panda_robot: FrankaRemoteClient#