concepts.dm.crowhat.robots.panda_robot_interfaces.PandaRobotContactPrimitiveControllerInterface

class PandaRobotContactPrimitiveControllerInterface

Bases: ContactPrimitiveRobotControlInterface

Methods

get_update_default_parameters(primitive, kwargs_)	Update the default parameters for a specific primitive.
grasp(approaching_trajectory[, width, force])
place(placing_trajectory)
set_default_parameters(primitive, **kwargs)	Set the default parameters for a specific primitive.

Attributes

default_parameters	Get the default parameters for each primitive.
primitive_interface

__init__(primitive_interface)

Parameters:

primitive_interface (PandaRobotPrimitiveControllerInterface)

__new__(**kwargs)

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(approaching_trajectory, width=0.05, force=40)

Parameters:

• approaching_trajectory (RobotArmJointTrajectory)

• width (float)

• force (float)

Return type:

None

place(placing_trajectory)

Parameters:

placing_trajectory (RobotArmJointTrajectory)

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 primitive_interface: PandaRobotPrimitiveControllerInterface