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WidowX250s

Inherits from: Arm No class docstring.

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Inherited methods

  • From Arm: setNamedPose, removeNamedPose, getNamedPose
  • From Robot: addSensor, cleanup

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init

WidowX250s.__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

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goToHomePose

WidowX250s.goToHomePose()
No docstring provided.

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moveToHome

WidowX250s.moveToHome(moving_time: float = 2.0, accel_time: float = 0.75)
No docstring provided.
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Arguments
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moving_time (float)
float
No description provided.
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accel_time (float)
float
No description provided.

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torqueEnable

WidowX250s.torqueEnable(enable: bool = True)
Enable or disable torque for the robot arm. (useful if you want free-drive mode)
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Arguments
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enable (bool)
bool
Whether to enable torque. Defaults to True.

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moveToDeltaPose

WidowX250s.moveToDeltaPose(delta_pose: Pose, blocking: bool = True, moving_time: float = 0.5, accel_time: float = 0.2) -> bool
Move the robot end effector by a relative pose offset from its current pose.
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Arguments
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delta_pose (Pose)
Pose
required
No description provided.
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement. Defaults to 0.5.
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accel_time (float)
float
Time to accelerate/decelerate. Defaults to 0.2.
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Returns
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bool
bool
True if the movement command was successful, False otherwise

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moveToPose

WidowX250s.moveToPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> bool
Move the robot end effector to a specified pose with respect to the base frame.
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Arguments
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position (Position)
Position
required
Target pose position (meters)
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orientation (Orientation)
Orientation
required
Target pose orientation
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement (seconds). Defaults to 2.0s.
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accel_time (float)
float
Time to spend accelerating and decelerating (seconds). Defaults to 0.5s.
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Returns
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bool
bool
True if the movement command was successful, False otherwise
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Raises
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ValueError
If moving_time or accel_time are not positive floats or integers

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moveToNamedPose

WidowX250s.moveToNamedPose(pose_name: str, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.75)
Move the robot to the joint angles of a named pose.
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Arguments
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pose_name (str)
str
required
Name of the pose to move to. Options are “home”, “sleep”.
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement. Defaults to 2.0.
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accel_time (float)
float
Time to accelerate/decelerate. Defaults to 0.75.
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Returns
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bool
True if the movement command was successful, False otherwise

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moveByVelocity

WidowX250s.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body')
Move the robot end effector with specified velocities.
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Arguments
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linear_velocity (Velocity)
Velocity
required
Linear velocity components
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angular_velocity (Velocity)
Velocity
required
Angular velocity components
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frame (str)
str
No description provided.

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grasp

WidowX250s.grasp()
Close the gripper to grasp an object (blocking).

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release

WidowX250s.release()
Open the gripper to release an object (blocking).

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setGripperPosition

WidowX250s.setGripperPosition(position: float)
Set the gripper position in the range from 0 (closed) to 1 (open) (blocking).
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Arguments
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position (float)
float
required
No description provided.

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goToSleepPose

WidowX250s.goToSleepPose()
Move arm to sleep pose.

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shutdown

WidowX250s.shutdown()
Shutdown the robot safely Moves arm to sleep pose then destroys the ROS node.

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getEndEffectorPose

WidowX250s.getEndEffectorPose()
Get the current end effector pose with respect to the base frame.
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Returns
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Pose
Current end effector position and orientation

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getPosition

WidowX250s.getPosition()
Get the current end effector position with respect to the robot base (meters)
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Returns
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Position
Current end effector position with respect to the robot base

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getState

WidowX250s.getState()
Get the complete state of the robot as one large dictionary.
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Returns
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dict
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

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stop

WidowX250s.stop()
Stop any movement of the robot (soft emergency-stop). Commands the robot to maintain its current position.

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getOrientation

WidowX250s.getOrientation()
Get the current end effector orientation with respect to the robot base.
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Returns
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Orientation
Current end effector orientation with respect to the robot base

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getJointAngles

WidowX250s.getJointAngles()
Get current joint angles.
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Returns
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list
List of current joint angles in radians

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setJointAngles

WidowX250s.setJointAngles(angles: list, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> bool
Set joint angles directly.
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Arguments
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angles (list)
list
required
List of target joint angles in radians
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement. Defaults to None.
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accel_time (float)
float
Time to accelerate/decelerate. Defaults to None.
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Returns
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bool
bool
True if position was commanded; False if it wasn’t due to being outside limits

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getImage

WidowX250s.getImage(camera_name: str, image_type: str) -> Image
No docstring provided.
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Arguments
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camera_name (str)
str
required
No description provided.
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image_type (str)
str
required
No description provided.
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Returns
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returns
Image