Modules

Doc for airbot module

class airbot.Robot

add_target_joint_q(self: airbot.Robot, target_d_joint_q: Annotated[list[float], FixedSize(6)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

add_target_joint_v(self: airbot.Robot, target_d_joint_v: Annotated[list[float], FixedSize(6)]) → bool

add_target_relative_rotation(self: airbot.Robot, target_d_rotation: Annotated[list[float], FixedSize(4)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

add_target_relative_translation(self: airbot.Robot, target_d_translation: Annotated[list[float], FixedSize(3)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

add_target_translation(self: airbot.Robot, target_d_translation: Annotated[list[float], FixedSize(3)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

get_current_end(self: airbot.Robot) → float

get_current_joint_error_code(self: airbot.Robot) → Annotated[list[int], FixedSize(6)]

get_current_joint_q(self: airbot.Robot) → Annotated[list[float], FixedSize(6)]

get_current_joint_t(self: airbot.Robot) → Annotated[list[float], FixedSize(6)]

get_current_joint_temperature(self: airbot.Robot) → Annotated[list[float], FixedSize(6)]

get_current_joint_v(self: airbot.Robot) → Annotated[list[float], FixedSize(6)]

get_current_pose(self: airbot.Robot) → tuple[Annotated[list[float], FixedSize(3)], Annotated[list[float], FixedSize(4)]]

get_current_rotation(self: airbot.Robot) → Annotated[list[float], FixedSize(4)]

get_current_translation(self: airbot.Robot) → Annotated[list[float], FixedSize(3)]

get_sn(self: airbot.Robot) → str

logging(self: airbot.Robot, logging: int) → None

manual_mode(self: airbot.Robot) → bool

offline_mode(self: airbot.Robot) → bool

online_mode(self: airbot.Robot) → bool

record_load(self: airbot.Robot, filepath: str) → None

record_save(self: airbot.Robot, filepath: str) → None

record_start(self: airbot.Robot) → bool

record_stop(self: airbot.Robot) → bool

replay_start(self: airbot.Robot) → bool

reset_error(self: airbot.Robot) → None

safe_joint_q(self: airbot.Robot, joint_q: Annotated[list[float], FixedSize(6)]) → bool

set_max_current(self: airbot.Robot, max: Annotated[list[float], FixedSize(6)]) → None

set_target_end(self: airbot.Robot, target_end: float, blocking: bool = False) → bool

set_target_joint_mit(*args, **kwargs)

Overloaded function.

1. set_target_joint_mit(self: airbot.Robot, target_joint_q: Annotated[list[float], FixedSize(6)], target_joint_v: Annotated[list[float], FixedSize(6)], target_joint_kp: Annotated[list[float], FixedSize(6)], target_joint_kd: Annotated[list[float], FixedSize(6)]) -> bool

2. set_target_joint_mit(self: airbot.Robot, target_joint_q: Annotated[list[float], FixedSize(6)], target_joint_v: Annotated[list[float], FixedSize(6)], target_joint_kp: Annotated[list[float], FixedSize(6)], target_joint_kd: Annotated[list[float], FixedSize(6)], target_joint_t: Annotated[list[float], FixedSize(6)]) -> bool

set_target_joint_q(self: airbot.Robot, target_joint_q: Annotated[list[float], FixedSize(6)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

set_target_joint_v(self: airbot.Robot, target_joint_v: Annotated[list[float], FixedSize(6)]) → bool

set_target_pose(*args, **kwargs)

Overloaded function.

1. set_target_pose(self: airbot.Robot, target_pose: tuple[Annotated[list[float], FixedSize(3)], Annotated[list[float], FixedSize(4)]], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) -> bool

2. set_target_pose(self: airbot.Robot, target_translation: Annotated[list[float], FixedSize(3)], target_rotation: Annotated[list[float], FixedSize(4)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) -> bool

set_target_rotation(self: airbot.Robot, target_rotation: Annotated[list[float], FixedSize(4)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

set_target_translation(self: airbot.Robot, target_translation: Annotated[list[float], FixedSize(3)], use_planning: bool = True, vel: float = 0.2, blocking: bool = False) → bool

set_target_vel(self: airbot.Robot, target_vel: tuple[Annotated[list[float], FixedSize(3)], Annotated[list[float], FixedSize(3)]]) → bool

valid_joint_q(self: airbot.Robot, joint_q: Annotated[list[float], FixedSize(6)]) → bool

valid_target_pose(self: airbot.Robot, target_pose: tuple[Annotated[list[float], FixedSize(3)], Annotated[list[float], FixedSize(4)]]) → bool

airbot.create_agent(urdf_path: str = '/usr/local/share/airbot_play/airbot_play_v2_1/urdf/airbot_play_v2_1_with_gripper.urdf', direction: str = 'down', can_interface: str = 'can0', vel: float = 0.2, end_mode: str = 'newteacher', forearm_type: str = 'DM') → airbot.Robot