concepts.hw_interface.franka.deoxys_server.DeoxysService#

class DeoxysService[source]#

Bases: Service

Methods

`async_servo_thread`(msg_queue, ...)
`call`(name, args, *kwargs)
`finalize`()
`from_setup_name`(name, robot_configs[, ...])
`get_all_qpos`()
`get_all_qvel`()
`get_camera_configs`()
`get_camera_to_robot_mapping`()
`get_captures`([robot_move_to])
`get_first_robot_index`()
`get_full_observation`()
`get_robot_base_poses`()
`initialize`()
`run_multi_robot`(task[, activated_robots])
`serve_socket`([name, tcp_port, use_simple, ...])
`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])
`start_visualizer`()
`wait_async_thread`(index)

Attributes

`DEFAULT_PORTS`
`ee_to_camera_pos`
`ee_to_camera_quat`

__init__(robots, robot_configs=None, cameras=None, camera_configs=None, camera_to_robot_mapping=None, mock=False)[source]#

Parameters:

robots (Dict[int, deoxys.franka_interface.FrankaInterface])
robot_configs (Dict[int, ndarray] | None)
cameras (Dict[str, CaptureRS] | None)
camera_configs (Dict[str, Dict[str, ndarray]] | None)
camera_to_robot_mapping (Dict[str, int] | None)
mock (bool)

__new__(**kwargs)#

async_servo_thread(msg_queue, robot_interface, exit_event, started_event, waiting_event)[source]#

Parameters:: robot_interface (deoxys.franka_interface.FrankaInterface)

call(name, *args, **kwargs)[source]#

finalize()#

classmethod from_setup_name(name, robot_configs, camera_configs=None, mock=False, use_camera_subscriber=False)[source]#

Parameters:

name (str)
robot_configs (Dict[str, ndarray] | None)
camera_configs (Dict[str, Dict[str, ndarray]] | None)
mock (bool)
use_camera_subscriber (bool)

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_first_robot_index()[source]#

get_full_observation()[source]#

get_robot_base_poses()[source]#

initialize()#

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

Parameters:

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

serve_socket(name=None, tcp_port=None, use_simple=True, register_name_server=False, verbose=False)[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)

start_visualizer()[source]#

wait_async_thread(index)[source]#

DEFAULT_PORTS = (12347, 12348)#

ee_to_camera_pos = [0.036499, -0.034889, 0.0594]#

ee_to_camera_quat = [0.00252743, 0.0065769, 0.70345566, 0.71070423]#