robits.remote.client package

Submodules

robits.remote.client.camera module

class robits.remote.client.camera.CameraZMQClient(address='localhost', port=5060, **kwargs)

Bases: CameraBase

Camera client for ZMQ

property camera_name: str

Name of the camera

Returns:: The camera name

property extrinsics: ndarray

Extrinsics parameters

Returns:: the extrinsic parameters of the camera as 4x4 matrix

get_camera_data() → Tuple[CameraData, Dict[str, Any]]

Gets the camera images

Returns:: the camera images and metadata

get_info() → Dict[str, Any]: General information about the camera

property intrinsics: ndarray

Intrinsic parameters

Returns:: the intrinsic parameters of the camera as 3x3 matrix

robits.remote.client.client_base module

class robits.remote.client.client_base.ZMQClient(address: str, port: int)

Bases: object

Base class for ZMQ client implementation

call(method: str, *args, **kwargs: Dict[str, Any])

Calls a remote method and returns the result

Parameters:: method – name of the method to call

robits.remote.client.gripper module

class robits.remote.client.gripper.GripperZMQClient(address='localhost', port=5070, **kwargs)

Bases: object

Gripper client using ZMQ

close() → None

get_gripper_name() → str

get_info() → Dict[str, Any]

get_obs() → Dict[str, Any]

is_open() → bool

open() → None

robits.remote.client.robot module

class robits.remote.client.robot.RemoteControlManager(client)

Bases: ControlManager

move_home() → None: Convenience function to move the robot to default joint position

class robits.remote.client.robot.RemoteController(client, controller_type: ControlTypes)

Bases: ControllerBase

update(*args, **kwargs): Abstract method to update the controller’s command target. Concrete subclasses must implement this.

class robits.remote.client.robot.RobotZMQClient(address='localhost', port=5050, **kwargs)

Bases: object

Robot client using ZMQ

control_arm(action: CartesianAction, auto_recover=True) → bool

control_hand(action: CartesianAction)

property eef_matrix: List[List[float]]

property eef_pose: Tuple[List[float], List[float]]

get_info() → Dict[str, Any]

get_proprioception_data(include_eef=True, include_gripper_obs=True) → Dict[str, Any]

get_robot_name() → str