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ScaFoArm
Inherits from: Arm
A software-based robotic arm implementation.
This class implements all required abstract methods from the Arm base class,
tracking internal state and logging actions. Suitable for development,
validation, and scenarios where physical hardware is not available.
Attributes:
_ee_pose (Pose): Current end effector pose (position + orientation)
_ee_state (int): Current gripper state (OPEN or CLOSED)
Inherited methods
- From
Arm: setNamedPose, removeNamedPose, getNamedPose
- From
Robot: addSensor, getImage
init
ScaFoArm.__init__(cameras: Optional[Dict[str, Camera]] = None, enable_websocket: bool = False, client_timeout: float = 30.0)
cameras (Optional[Dict[str, Camera]])
Optional[Dict[str, Camera]]
Named camera interfaces. Defaults to None.
Whether to start the WebSocket server. Defaults to False.
Client timeout in seconds. Defaults to 30.0.
getState
ScaFoArm.getState() -> dict
Current state including pose and gripper state
getPosition
ScaFoArm.getPosition() -> Optional[Position]
Current end effector position in meters (copy)
getOrientation
ScaFoArm.getOrientation() -> Optional[Orientation]
Current end effector orientation as quaternion
moveByVelocity
ScaFoArm.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body') -> None
linear_velocity (Velocity)
Linear velocity in m/s
angular_velocity (Velocity)
Angular velocity in rad/s
Reference frame (“body” or “world”)
stop
Stop any movement of the robot (soft emergency-stop).
cleanup
ScaFoArm.cleanup() -> None
getJointAngles
ScaFoArm.getJointAngles() -> list[float]
Current joint angles (to be implemented)
setJointAngles
ScaFoArm.setJointAngles(angles: list, blocking: bool = True, moving_time: Optional[float] = None, accel_time: Optional[float] = None) -> None
Target joint angles in radians
Wait for movement to complete
moving_time (Optional[float])
Time to complete movement in seconds
accel_time (Optional[float])
Time to accelerate/decelerate in seconds
grasp
Close the gripper to grasp an object.
release
ScaFoArm.release() -> None
getEndEffectorPose
ScaFoArm.getEndEffectorPose() -> Pose
Current end effector position and orientation
moveToPose
ScaFoArm.moveToPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> bool
Target position in meters
orientation (Orientation)
Target orientation as quaternion
Wait for movement to complete
Time to complete the movement in seconds
Time to accelerate/decelerate in seconds
True if the movement command was successful
moveToDeltaPose
ScaFoArm.moveToDeltaPose(delta_position: Position, delta_orientation: Orientation = Orientation(0, 0, 0, 1.0), blocking: bool = True, moving_time: float = 0.5, accel_time: float = 0.2) -> bool
delta_position (Position)
Position offset in meters (in end-effector frame)
delta_orientation (Orientation)
Orientation offset as quaternion (relative rotation)
Wait for movement to complete
Time to complete the movement in seconds
Time to accelerate/decelerate in seconds
True if the movement command was successful
