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Movement types

Almond Bot can move in 3D space by setting the Pose of the robot or setting the Joints of the robot.

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Pose Control

Pose control let’s you specify the position and orientation of the end effector relative to the base frame. You can specify the pose in absolute or relative coordinates.

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Set absolute pose

In this example, we’re setting the robot’s end effector to be 100mm in the x direction, 100mm in the y direction, and 100mm in the z direction from the base frame. 
await client.set_tool_pose(Pose(x=100, y=100, z=100, roll=0, pitch=0, yaw=0))

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Set relative pose

In this example, we’re moving the robot 100mm in the x direction from it’s current position. 
await client.move_relative(Pose(x=100))

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Joint Control

Joint control let’s you specify the position of the robot in joint space. You can specify the joints in absolute or relative coordinates.

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Set absolute joint

In this example, we’re setting each joint to 0 degrees. 
await client.set_joints(Joints(j1=0, j2=0, j3=0, j4=0, j5=0, j6=0))

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Set relative joint

In this example, we’re moving the robot’s base joint 10 degrees from it’s current position. 
await client.move_relative(Joints(j1=10))

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Gripper Control

Almond Bot has a gripper that can be opened and closed with a given force.

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Open/Close gripper

# Open the gripper
await client.open_gripper()

# Close the gripper
await client.close_gripper()

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Set gripper stroke

# Set the gripper stroke to 50% of the maximum stroke with 20% of the maximum force
await client.set_gripper_stroke(stroke=0.5, force=0.2)