Command the robot

Command the robot

command_stop

LibIiwa.command_stop() → bool

Stop the robot

Returns:

True if successful, False otherwise

Return type:

bool

Example:

>>> # stop the robot
>>> iiwa.command_stop()
True

command_joint_position

LibIiwa.command_joint_position(position: Union[List[float], ndarray], degrees: bool = False) → bool

Move the robot to the specified joint position

Parameters:

  • position (7-element list or np.ndarray) – The joint position to move to

  • degrees (bool, optional) – Whether the position is in degrees or radians (default: radians)

Raises:

AssertionError – If the position is not a list or numpy array of length 7

Returns:

True if successful, False otherwise

Return type:

bool

Example:

>>> # move to joint position [0, 0, 0, -1.57, 0, 1.57, 0] in radians
>>> iiwa.command_joint_position([0, 0, 0, -1.57, 0, 1.57, 0])
True

>>> # move to joint position [0, 0, 0, -90, 0, 90, 0] in degrees
>>> iiwa.command_joint_position([0, 0, 0, -90, 0, 90, 0], degrees=True)
True

>>> # set only the joint number 4 to -1.57 in radians without moving the other joints
>>> iiwa.command_joint_position([np.NaN, np.NaN, np.NaN, -1.57, np.NaN, np.NaN, np.NaN])
True

command_cartesian_pose

LibIiwa.command_cartesian_pose(position: Union[List[float], ndarray], orientation: Union[List[float], ndarray] = [nan, nan, nan], millimeters: bool = False, degrees: bool = False) → bool

Move the robot to the specified cartesian pose

Parameters:

  • position (3-element list or np.ndarray) – The cartesian position to move to

  • orientation (3-element list or np.ndarray, optional) – The cartesian orientation to move to (default: [np.NaN, np.NaN, np.NaN])

  • millimeters (bool, optional) – Whether the position is in millimeters or meters (default: meters)

  • degrees (bool, optional) – Whether the orientation is in degrees or radians (default: radians)

Raises:

  • AssertionError – If the position is not a list or numpy array of length 3

  • AssertionError – If the orientation is not a list or numpy array of length 3

Returns:

True if successful, False otherwise

Return type:

bool

Example:

>>> # move to cartesian pose [0.65, 0, 0.2] in meters without changing the orientation
>>> iiwa.command_cartesian_pose([0.65, 0, 0.2])
True

>>> # move to cartesian pose [650, 0, 200] in millimeters without changing the orientation
>>> iiwa.command_cartesian_pose([650, 0, 200], millimeters=True)
True

command_circular_motion

LibIiwa.command_circular_motion(auxiliary_position: Union[List[float], ndarray], end_position: Union[List[float], ndarray], millimeters: bool = False) → bool

Perform a circular motion

Circular motion is defined by an auxiliary position and an end position. The coordinates of the auxiliary position and end position are Cartesian and absolute. The current frame orientation will be used to calculate the circular motion

Parameters:

  • auxiliary_position (3-element list or np.ndarray) – The auxiliary cartesian position with respect to World

  • end_position (3-element list or np.ndarray) – The end cartesian position with respect to World

  • millimeters (bool, optional) – Whether the position is in millimeters or meters (default: meters)

Raises:

  • AssertionError – If the auxiliary position is not a list or numpy array of length 3

  • AssertionError – If the end position is not a list or numpy array of length 3

Returns:

True if successful, False otherwise

Return type:

bool

Example:

>>> # assuming the robot this joint configuration in degrees: [0, 0, 0, -90, 0, 90, 0]
>>> # perfom a circular motion to [0.5, 0.2, 0.65] with auxiliary position [0.6, 0.1, 0.65]
>>> iiwa.command_circular_motion([0.6, 0.1, 0.65], [0.5, 0.2, 0.65])
True

>>> # same circular motion in millimeters
>>> iiwa.command_circular_motion([0.6, 0.1, 0.65], [0.5, 0.2, 0.65], millimeters=True)
True