Arm

class locobot.arm.LoCoBotArm(configs, control_mode='position', moveit_planner='ESTkConfigDefault', use_moveit=True)

Bases: pyrobot.core.Arm

This class has functionality to control a robotic arm in joint and task space (with and without any motion planning), for position/velocity/torque control, etc.

__init__(configs, control_mode='position', moveit_planner='ESTkConfigDefault', use_moveit=True)

The constructor for LoCoBotArm class.

Parameters:

• configs (YACS CfgNode) – configurations read from config file
• control_mode (string) – Choose between ‘position’, ‘velocity’ and ‘torque’ control
• moveit_planner (string) – Planner name for moveit, only used if planning_mode = ‘moveit’.
• use_moveit (bool) – use moveit or not, default is True

go_home(plan=False)

Commands robot to home position

Parameters:plan (bool) – use moveit to plan the path or not

set_ee_pose_pitch_roll(position, pitch, roll=None, plan=True, wait=True, numerical=True, **kwargs)

Commands robot arm to desired end-effector pose (w.r.t. ‘ARM_BASE_FRAME’). Computes IK solution in joint space and calls set_joint_positions. Will wait for command to complete if wait is set to True.

Parameters:

• position (np.ndarray) – position of the end effector (shape: \([3,]\))
• pitch (float) – pitch angle
• roll (float) – roll angle
• plan (bool) – use moveit the plan a path to move to the desired pose
• wait (bool) – wait until the desired pose is achieved
• numerical (bool) – use numerical inverse kinematics solver or analytical inverse kinematics solver

Return result:

Returns True if command succeeded, False otherwise

Return type:

bool

set_joint_torque(joint_name, value)

Parameters:

• joint_name (string) – joint name ([‘joint_1’, ‘joint_2’, ‘joint_3’, ‘joint_4’‘])
• value (float) – torque value in Nm

Returns:

sucessful or not

Return type:

bool

set_joint_torques(torques, **kwargs)

Sets the desired joint torques for all arm joints.

Parameters:torques (list) – target joint torques, list of len 4 populated with torque to be applied on first 4 joints of arm in Nm

set_joint_velocities(velocities, **kwargs)

Sets the desired joint velocities for all arm joints

Parameters:velocities (list) – target joint velocities