Robot Interface - A2R-Lab/indy7-sdk GitHub Wiki

Communication with Indy7 is done through the IndyAPI, which uses gRPC under the hood. For the simulation interface, see MuJoCo

Indy7JointController is a thin error handling wrapper on top of the C++ IndyAPI.

Indy7JointController controller(robot_ip);

• start_teleop()
• stop_teleop()
• move_joints_teleop(const std::vector<float>& q)
  • q has size 6
  • Teleop movement is fastest
• move_joints(const std::vector<float>& q)
  • q has size 6
• get_robot_state(indy7_msgs::msg::JointState& state)
  • Upon success, robot state is copied into state, and returns true
  • Upon failure, returns false