Arm

class sawyer.arm.SawyerArm(configs, moveit_planner='ESTkConfigDefault')[source]

Bases: pyrobot.core.Arm

This class has functionality to control a Sawyer manipulator.

__init__(configs, moveit_planner='ESTkConfigDefault')[source]

The constructor for LoCoBotArm class.

Parameters:
  • configs (YACS CfgNode) – configurations read from config file
  • moveit_planner (string) – Planner name for moveit, only used if planning_mode = ‘moveit’.
get_collision_state()[source]

Return the collision state

Returns:collision or not
Return type:bool
go_home()[source]

Commands robot to home position

move_to_neutral()[source]

Move the robot to a pre-defined neutral pose