concepts.hw_interface.franka.deoxys_server.DeoxysClient#

class DeoxysClient[source]#

Bases: object

Methods

`async_servo_cancel`([terminate])	Cancel the current async servo thread.
`async_servo_finished`()	Returns whether the async servo thread has finished executing at least one task.
`async_servo_start`()	Start a async servo thread for controlling the robot.
`async_servo_started`()	Returns whether at least one of the task has been sent and started executing.
`async_servo_wait`([terminate])
`async_servo_wait_for_start`()	Wait until the async servo thread has started executing the task.
`close_gripper`([steps])
`get_all_qpos`()
`get_all_qvel`()
`get_camera_configs`()
`get_camera_to_robot_mapping`()
`get_captures`([robot_move_to])
`get_default_robot_index`()
`get_qpos`()
`get_qvel`()
`get_robot_base_poses`()
`move_ee_trajectory`(ee_traj, *[, cfg, ...])
`move_ee_trajectory_async`(ee_traj, *[, cfg, ...])
`move_home`([gripper_open, gripper_close])
`move_qpos`(q[, cfg, gripper_open, gripper_close])
`move_qpos_trajectory`(q[, cfg, ...])
`move_qpos_trajectory_async`(q[, cfg, ...])
`open_gripper`([steps])
`run_multi_robot`(task[, activated_robots])
`set_default_robot_index`(index)
`single_async_servo_cancel`(robot_index[, ...])
`single_async_servo_finished`(robot_index)
`single_async_servo_start`(robot_index)
`single_async_servo_started`(robot_index)
`single_async_servo_wait`(robot_index[, terminate])
`single_async_servo_wait_for_start`(robot_index)
`single_close_gripper`(robot_index[, steps])
`single_move_ee_trajectory`(robot_index, ...)
`single_move_ee_trajectory_async`(robot_index, ...)
`single_move_home`(robot_index[, ...])
`single_move_qpos`(robot_index, q[, cfg, ...])
`single_move_qpos_trajectory`(robot_index, q)
`single_move_qpos_trajectory_async`(robot_index, q)
`single_open_gripper`(robot_index[, steps])

__init__(server, ports=None)[source]#

Parameters:

server (str)
ports (Tuple[int, int] | None)

__new__(**kwargs)#

async_servo_cancel(terminate=True)[source]#

Cancel the current async servo thread. If terminate is True, the thread will be terminated after the cancel operation.

Parameters:: terminate (bool)

async_servo_finished()[source]#

Returns whether the async servo thread has finished executing at least one task. Note that this function will first check if at least one task has been started.

Return type:: bool

async_servo_start()[source]#: Start a async servo thread for controlling the robot.

async_servo_started()[source]#

Returns whether at least one of the task has been sent and started executing.

Return type:: bool

async_servo_wait(terminate=True)[source]#

Parameters:: terminate (bool)

async_servo_wait_for_start()[source]#: Wait until the async servo thread has started executing the task.

close_gripper(steps=100)[source]#

Parameters:: steps (int)

get_all_qpos()[source]#

get_all_qvel()[source]#

get_camera_configs()[source]#

get_camera_to_robot_mapping()[source]#

get_captures(robot_move_to=None)[source]#

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

get_default_robot_index()[source]#

get_qpos()[source]#

get_qvel()[source]#

get_robot_base_poses()[source]#

move_ee_trajectory(ee_traj, *, cfg=None, compliance_traj=None, gripper_open=None, gripper_close=None)[source]#

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
cfg (Dict | None)
compliance_traj (List[ndarray] | None)
gripper_open (bool | None)
gripper_close (bool | None)

move_ee_trajectory_async(ee_traj, *, cfg=None, compliance_traj=None, gripper_open=None, gripper_close=None, queued=False)[source]#

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
cfg (Dict | None)
compliance_traj (List[ndarray] | None)
gripper_open (bool | None)
gripper_close (bool | None)
queued (bool)

move_home(gripper_open=None, gripper_close=None)[source]#

Parameters:

gripper_open (bool | None)
gripper_close (bool | None)

move_qpos(q, cfg=None, gripper_open=None, gripper_close=None)[source]#

Parameters:

q (ndarray)
cfg (Dict | None)
gripper_open (bool | None)
gripper_close (bool | None)

move_qpos_trajectory(q, cfg=None, num_addition_steps=0, gripper_open=None, gripper_close=None, residual_tau_translation=None)[source]#

Parameters:

q (List[ndarray])
cfg (Dict | None)
num_addition_steps (int)
gripper_open (bool | None)
gripper_close (bool | None)
residual_tau_translation (ndarray | None)

move_qpos_trajectory_async(q, cfg=None, gripper_open=None, gripper_close=None, residual_tau_translation=None, queued=False)[source]#

Parameters:

q (List[ndarray])
cfg (Dict | None)
gripper_open (bool | None)
gripper_close (bool | None)
residual_tau_translation (ndarray | None)
queued (bool)

open_gripper(steps=100)[source]#

Parameters:: steps (int)

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

Parameters:

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

set_default_robot_index(index)[source]#

single_async_servo_cancel(robot_index, terminate=True)[source]#

Parameters:

robot_index (int)
terminate (bool)

single_async_servo_finished(robot_index)[source]#

Parameters:: robot_index (int)

single_async_servo_start(robot_index)[source]#

Parameters:: robot_index (int)

single_async_servo_started(robot_index)[source]#

Parameters:: robot_index (int)

single_async_servo_wait(robot_index, terminate=True)[source]#

Parameters:

robot_index (int)
terminate (bool)

single_async_servo_wait_for_start(robot_index)[source]#

Parameters:: robot_index (int)

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

Parameters:: steps (int)

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

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
cfg (Dict | None)
compliance_traj (List[ndarray] | None)
gripper_open (bool | None)
gripper_close (bool | None)

single_move_ee_trajectory_async(robot_index, ee_traj, *, cfg=None, compliance_traj=None, gripper_open=None, gripper_close=None, queued=False)[source]#

Parameters:

ee_traj (List[Tuple[ndarray, ndarray]])
cfg (Dict | None)
compliance_traj (List[ndarray] | None)
gripper_open (bool | None)
gripper_close (bool | None)
queued (bool)

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_move_qpos_trajectory_async(robot_index, q, cfg=None, gripper_open=None, gripper_close=None, residual_tau_translation=None, queued=False)[source]#

Parameters:

robot_index (int)
q (List[ndarray])
cfg (Dict | None)
gripper_open (bool | None)
gripper_close (bool | None)
residual_tau_translation (ndarray | None)
queued (bool)

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

Parameters:: steps (int)