pycram.external_interfaces.tmc
==============================

.. py:module:: pycram.external_interfaces.tmc


Attributes
----------

.. autoapisummary::

   pycram.external_interfaces.tmc.is_init


Functions
---------

.. autoapisummary::

   pycram.external_interfaces.tmc.init_tmc_interface
   pycram.external_interfaces.tmc.tmc_gripper_control
   pycram.external_interfaces.tmc.tmc_talk


Module Contents
---------------

.. py:data:: is_init
   :value: False


.. py:function:: init_tmc_interface()

.. py:function:: tmc_gripper_control(designator: pycram.designators.motion_designator.MoveGripperMotion, topic_name: typing_extensions.Optional[str] = '/hsrb/gripper_controller/grasp/goal')

   Publishes a message to the gripper controller to open or close the gripper for the HSR.

   :param designator: The designator containing the motion to be executed
   :param topic_name: The topic name to publish the message to


.. py:function:: tmc_talk(designator: pycram.designators.motion_designator.TalkingMotion, topic_name: typing_extensions.Optional[str] = '/talk_request')

   Publishes a sentence to the talk_request topic of the HSRB robot

   :param designator: The designator containing the sentence to be spoken
   :param topic_name: The topic name to publish the sentence to