Robot Raconteur Info Parsers

Robot Raconteur drivers use YAML info files to provide metadata to clients. These YAML files also typically include physical parameters about the devices. For robots and tools, these files contain kinematic and dynamic parameters. The utility functions in this module parse the YAML files and return general_robotics_toolbox.Robot structures populated with the parameters read from the YAML files.

general_robotics_toolbox.robotraconteur

general_robotics_toolbox.robotraconteur.load_robot_and_tool_info_yaml_to_robot(robot_info_file, tool_info_file, robot_chain_number=0)

Parse a YAML robot info file and YAML tool info file, and return a populated Robot structure with the tool attached.

Parameters:

robot_info_file (TextIO | dict) – The robot info file to parse
tool_info_file (TextIO | dict) – The tool info file to parse
chain_number (int) – The index of the chain to parse. For single robots, use default 0

general_robotics_toolbox.robotraconteur.load_robot_info_yaml_to_robot(robot_info_file, chain_number=0)

Parse a YAML robot info file and return a populated Robot structure. This function will also include the current_tool entry if present.

Parameters:

robot_info_file (TextIO | dict) – The robot info file to parse
chain_number (int) – The index of the chain to parse. For single robots, use default 0