36 lines
677 B
Python
36 lines
677 B
Python
from abc import abstractmethod, ABC
|
|
|
|
|
|
class Robot(ABC):
|
|
@abstractmethod
|
|
def get_prim_world_pose(self, prim_path):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def reset(self):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def open_gripper(self, id="left", width=0.1):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def close_gripper(self, id="left", force=50):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def move(self, target, type="pose", speed=None):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def decode_gripper_pose(self, gripper_pose):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def get_ee_pose(self, id="right"):
|
|
pass
|
|
|
|
@abstractmethod
|
|
def check_ik(self, pose, id="right"):
|
|
pass
|