garmi_parti.parti package

Teleoperation interfaces for the Parti robot.

class garmi_parti.parti.CartesianLeader(left_hostname, right_hostname, window_size=1000, interval=2000, logger=None)

Bases: CartesianLeader, TwoArmPandaInterface, Tickable

Use PARTI or a similar system as a cartesian teleoperation leader device.

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.parti.JointLeader(left_hostname, right_hostname, window_size=1000, interval=2000, logger=None)

Bases: JointLeader, TwoArmPandaInterface, Tickable

Use PARTI or a similar system as a joint-space teleoperation leader device.

Parameters:
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

class garmi_parti.parti.Tickable(window_size=1000, interval=2000, logger=None)

Bases: object

Tickable class that can be mixed in to track runtime.

Parameters:
tick()

Reset the internal time since the last tick was called.

Return type:

None

Submodules

garmi_parti.parti.haptic_simulation module

garmi_parti.parti.mmt module

Model-mediated teleoperation interfaces for the Parti robot.

class garmi_parti.parti.mmt.Leader

Bases: Interface

Use PARTI or a similar system as a model-mediated teleoperation leader device. This module requires the parti-haptic-sim module to be running.

close(end_effector='')

This method is called by server (followers) and requested via network from clients (leaders). Use this method to close end effectors specified by end_effector. Refer to garmi_parti.teleoperation.client.close for the network call. :type end_effector: str :param end_effector: End effector name

Return type:

None

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

open(end_effector='')

This method is called by server (followers) and requested via network from clients (leaders). Use this method to open end effectors specified by end_effector. Refer to garmi_parti.teleoperation.client.open for the network call. :type end_effector: str :param end_effector: End effector name

Return type:

None

pause(end_effector='')

Executed when a pause was requested.

Parameters:

end_effector (str)

Return type:

None

post_teleop()

Executed after teleoperation has finished.

Return type:

bool

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

start_teleop()

Executed after pre_teleop was executed on both ends.

Return type:

None

unpause(end_effector='')

Executed when an unpause was requested.

Parameters:

end_effector (str)

Return type:

None