Documentation Index
Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
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WidowX250s
Inherits from: Arm
No class docstring.
Inherited methods
- From
Arm: setNamedPose, removeNamedPose, getNamedPose
- From
Robot: addSensor, cleanup
init
Initialize the WidowX robot arm.
Note that the ROS node must already be running:
ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=wx250s
goToHomePose
WidowX250s.goToHomePose()
moveToHome
WidowX250s.moveToHome(moving_time: float = 2.0, accel_time: float = 0.75)
torqueEnable
WidowX250s.torqueEnable(enable: bool = True)
Whether to enable torque. Defaults to True.
moveToDeltaPose
WidowX250s.moveToDeltaPose(delta_pose: Pose, blocking: bool = True, moving_time: float = 0.5, accel_time: float = 0.2) -> bool
Wait for movement to complete. Defaults to True.
Time to complete the movement. Defaults to 0.5.
Time to accelerate/decelerate. Defaults to 0.2.
True if the movement command was successful, False otherwise
moveToPose
WidowX250s.moveToPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> bool
Target pose position (meters)
orientation (Orientation)
Target pose orientation
Wait for movement to complete. Defaults to True.
Time to complete the movement (seconds). Defaults to 2.0s.
Time to spend accelerating and decelerating (seconds). Defaults to 0.5s.
True if the movement command was successful, False otherwise
If moving_time or accel_time are not positive floats or integers
moveToNamedPose
WidowX250s.moveToNamedPose(pose_name: str, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.75)
Name of the pose to move to. Options are “home”, “sleep”.
Wait for movement to complete. Defaults to True.
Time to complete the movement. Defaults to 2.0.
Time to accelerate/decelerate. Defaults to 0.75.
True if the movement command was successful, False otherwise
moveByVelocity
WidowX250s.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body')
linear_velocity (Velocity)
Linear velocity components
angular_velocity (Velocity)
Angular velocity components
grasp
Close the gripper to grasp an object (blocking).
release
Open the gripper to release an object (blocking).
setGripperPosition
WidowX250s.setGripperPosition(position: float)
goToSleepPose
WidowX250s.goToSleepPose()
shutdown
Shutdown the robot safely
Moves arm to sleep pose then destroys the ROS node.
getEndEffectorPose
WidowX250s.getEndEffectorPose()
Current end effector position and orientation
getPosition
Get the current end effector position with respect to the robot base (meters)
Current end effector position with respect to the robot base
getState
Get the complete state of the robot as one large dictionary.
Current state of the robot containing: - joint_positions: 6-element list, Current joint positions (radians) - end_effector_pose: homogenous matrix, Current end effector pose with respect to the robot base
stop
Stop any movement of the robot (soft emergency-stop).
Commands the robot to maintain its current position.
getOrientation
WidowX250s.getOrientation()
Current end effector orientation with respect to the robot base
getJointAngles
WidowX250s.getJointAngles()
List of current joint angles in radians
setJointAngles
WidowX250s.setJointAngles(angles: list, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> bool
List of target joint angles in radians
Wait for movement to complete. Defaults to True.
Time to complete the movement. Defaults to None.
Time to accelerate/decelerate. Defaults to None.
True if position was commanded; False if it wasn’t due to being outside limits
getImage
WidowX250s.getImage(camera_name: str, image_type: str) -> Image
