garmi_parti.garmi package

Teleoperation interfaces for the Garmi robot.

class garmi_parti.garmi.CartesianFollower(left, right, has_left_gripper=False, has_right_gripper=False)

Bases: CartesianFollower, TwoArmPandaInterface

Teleoperation interface that controls the two arms of Garmi in Cartesian space.

Parameters:
get_command()

Get the command to be sent over the network.

Return type:

bytes

pause(end_effector='')

Executed when a pause was requested.

Parameters:

end_effector (str)

Return type:

None

set_command(command)

Called when a new command has been received over the network.

Parameters:

command (bytes) – Received command

Return type:

None

unpause(end_effector='')

Executed when an unpause was requested.

Parameters:

end_effector (str)

Return type:

None

class garmi_parti.garmi.JointFollower(left, right, has_left_gripper=False, has_right_gripper=False)

Bases: JointFollower, TwoArmPandaInterface

Teleoperation interface that controls the two arms of Garmi in joint space.

Parameters:
get_command()

Get the command to be sent over the network.

Return type:

bytes

pause(end_effector='')

Executed when a pause was requested.

Parameters:

end_effector (str)

Return type:

None

pre_teleop()

Executed after connection has been established but before teleoperation.

Return type:

bool

set_command(command)

Called when a new command has been received over the network.

Parameters:

command (bytes) – Received command

Return type:

None

set_sync_command(command, end_effector='')

Called by the network server. The command argument of this method is generated by get_sync_command on the client side. Use this mechanism to synchronize teleoperators before teleoperation begins.

Parameters:

  • command (bytes) – Received synchronization command

  • end_effector (str)

Return type:

None

unpause(end_effector='')

Executed when an unpause was requested.

Parameters:

end_effector (str)

Return type:

None

Submodules

garmi_parti.garmi.mmt module

Model-mediated teleoperation interfaces for the Garmi robot.

class garmi_parti.garmi.mmt.Follower(left, right, has_left_gripper=False, has_right_gripper=False)

Bases: JointFollower

Use GARMI or a similar system as a model-mediated teleoperation follower device.

Parameters:
pause(end_effector='')

Executed when a pause was requested.

Parameters:

end_effector (str)

Return type:

None

unpause(end_effector='')

Executed when an unpause was requested.

Parameters:

end_effector (str)

Return type:

None