garmi_parti.panda package

Teleoperation interfaces for the Panda robot.

class garmi_parti.panda.CartesianFollower(params, has_gripper=False)

Bases: PandaInterface

Teleoperation interface that controls a Panda robot 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.panda.CartesianLeader(params)

Bases: PandaInterface

Teleoperation interface that uses a Panda robot as a haptic input device in Cartesian space.

Parameters:

params (TeleopParams)

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.panda.JointFollower(params, has_gripper=False)

Bases: PandaInterface

Teleoperation interface that controls a Panda robot 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

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

class garmi_parti.panda.JointLeader(params)

Bases: PandaInterface

Teleoperation interface that uses a Panda robot as a haptic input device in joint space.

Parameters:

params (TeleopParams)

get_command()

Get the command to be sent over the network.

Return type:

bytes

get_sync_command()

Called by teleoperation clients to be sent to the server for synchronization. This call happens after a connection is established but before teleoperation starts, i.e. between the pre_teleop and start_teleop hooks.

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