Namespace robot_interfaces_bolt

namespace robot_interfaces_bolt

Typedefs

typedef Eigen::Matrix<double, 9, 1> Vector9d

typedef robot_interfaces::RobotBackend<BoltHumanoidAction, BoltHumanoidObservation> BoltHumanoidBackend

typedef robot_interfaces::RobotFrontend<BoltHumanoidAction, BoltHumanoidObservation> BoltHumanoidFrontend

typedef robot_interfaces::RobotData<BoltHumanoidAction, BoltHumanoidObservation> BoltHumanoidData

typedef robot_interfaces::SingleProcessRobotData<BoltHumanoidAction, BoltHumanoidObservation> BoltHumanoidSingleProcessData

typedef robot_interfaces::MultiProcessRobotData<BoltHumanoidAction, BoltHumanoidObservation> BoltHumanoidMultiProcessData

Functions

BoltHumanoidBackend::Ptr create_real_bolthumanoid_backend(BoltHumanoidData::Ptr robot_data, const BoltHumanoidConfig &driver_config, const double first_action_timeout = std::numeric_limits<double>::infinity(), const uint32_t max_number_of_actions = 0)

Create robot backend using the BoltHumanoid driver (real robot).

See also

BoltHumanoidDriver

Parameters:

• robot_data – Instance of RobotData used for communication.

• driver_config – Driver configuration.

• first_action_timeout – Duration for which the backend waits for the first action to arrive. If exceeded, the backend shuts down.

• max_number_of_actions – Number of actions after which the backend automatically shuts down.

Returns:

A RobotBackend instances which uses a BoltHumanoid driver.

BoltHumanoidBackend::Ptr create_fake_bolthumanoid_backend(BoltHumanoidData::Ptr robot_data, const BoltHumanoidConfig &driver_config, const double first_action_timeout = std::numeric_limits<double>::infinity(), const uint32_t max_number_of_actions = 0)

Create robot backend using the fake BoltHumanoid driver (for testing).

Arguments are the same as for create_real_bolthumanoid_backend.

See also

FakeBoltHumanoidDriver

See also

create_real_bolthumanoid_backend

BoltHumanoidBackend::Ptr create_pybullet_bolthumanoid_backend(BoltHumanoidData::Ptr robot_data, const BoltHumanoidConfig &driver_config, const double first_action_timeout = std::numeric_limits<double>::infinity(), const uint32_t max_number_of_actions = 0)

Create robot backend using the PyBullet BoltHumanoid driver (for testing).

Arguments are the same as for create_real_bolthumanoid_backend.

This function uses default values for initialising the simulation driver. If you want more control over the settings (including direct access to the simulation environment), create a driver instance yourself and use create_bolthumanoid_backend.

See also

PyBulletBoltHumanoidDriver

See also

create_bolthumanoid_backend

See also

create_real_bolthumanoid_backend

BoltHumanoidBackend::Ptr create_bolthumanoid_backend(BoltHumanoidData::Ptr robot_data, BaseBoltHumanoidDriver::Ptr robot_driver, const double first_action_timeout = std::numeric_limits<double>::infinity(), const uint32_t max_number_of_actions = 0, bool enable_timing_watchdog = true)

Create robot backend using a BoltHumanoid driver.

Parameters:

• robot_data – Instance of RobotData used for communication.

• robot_driver – Driver instance, connecting to the robot or simulation.

• first_action_timeout – Duration for which the backend waits for the first action to arrive. If exceeded, the backend shuts down.

• max_number_of_actions – Number of actions after which the backend automatically shuts down.

• enable_timing_watchdog – Whether to enable the backend timing watchdog (triggers an error if real-time constraints of the backend are violated). This should enabled if using the real robot but may be disabled when using simulation.

Returns:

A RobotBackend instances which uses a BoltHumanoid driver.

struct BoltHumanoidAction : public robot_interfaces::Loggable, public robot_interfaces::Loggable

#include <bolthumanoid_action.hpp>

Action for the BoltHumanoid robot.

BoltHumanoid has an on-board PD+ controller which can be used by setting the P and D control gains per joint to the fields joint_position_gains and joint_velocity_gains. If the gains are zero, joint_positions and joint_velocities are ignored and only the torque commands in joint_torques are executed.

Public Functions

template<class Archive>
inline void serialize(Archive &archive)

inline std::vector<std::string> get_name() override

inline std::vector<std::vector<double>> get_data() override

template<class Archive>
inline void serialize(Archive &archive)

inline std::vector<std::string> get_name() override

inline std::vector<std::vector<double>> get_data() override

Public Members

Vector9d joint_torques = Vector9d::Zero()

Desired joint torques.

Vector9d joint_positions = Vector9d::Zero()

Desired joint positions.

Only used if joint_position_gains are set to a non-zero value.

Vector9d joint_velocities = Vector9d::Zero()

Desired joint velocities.

Only used if joint_velocity_gains are set to a non-zero value.

Vector9d joint_position_gains = Vector9d::Zero()

P-gains of the on-board PD+ controller.

Vector9d joint_velocity_gains = Vector9d::Zero()

D-gains of the on-board PD+ controller.

Public Static Functions

static inline BoltHumanoidAction Zero()

Create a zero-torque action.

This is equivalent to just using the default constructor but can be used to more explicitly show intend in the code.

static inline BoltHumanoidAction Zero()

Create a zero-torque action.

This is equivalent to just using the default constructor but can be used to more explicitly show intend in the code.

struct BoltHumanoidConfig

#include <bolthumanoid_config.hpp>

Configuration for the BoltHumanoid driver.

Public Members

std::string network_interface = ""

Name of the network interface to which the robot is connected (e.g.

“eth0”).

std::string slider_serial_port = ""

Name of the serial port to which the hardware slider is connected.

This can typically be left empty, in which case the port is auto-detected.

double max_motor_current_A = 8.0

Maximum current that can be applied to the motors (in Ampere).

Vector9d home_offset_rad = Vector9d::Zero()

Offset between home position (=encoder index) and zero position.

Angles (in radian) between the encoder index and the zero position of each joint.

std::string logger_level = "warning"

Logger output level.

One of {“trace”, “debug”, “info”, “warning”, “error”, “critical”, “off”}. See documentation of spdlog for details.

Public Static Functions

static BoltHumanoidConfig from_file(const std::filesystem::path &file)

Load configuration from a YAML file.

Parameters:

file – Path to the file

Returns:

Configuration instance. For parameters not provided in the file the default values are kept.

static BoltHumanoidConfig from_file(const std::filesystem::path &file)

Load configuration from a YAML file.

Parameters:

file – Path to the file

Returns:

Configuration instance. For parameters not provided in the file the default values are kept.

class BoltHumanoidDriver : public robot_interfaces_bolt::BaseBoltHumanoidDriver, public robot_interfaces_bolt::BaseBoltHumanoidDriver

#include <bolthumanoid_driver.hpp>

Driver to use BoltHumanoid.

Public Functions

explicit BoltHumanoidDriver(const BoltHumanoidConfig &config)

void initialize() override

Action apply_action(const Action &desired_action) override

Observation get_latest_observation() override

std::optional<std::string> get_error() override

void shutdown() override

explicit BoltHumanoidDriver(const BoltHumanoidConfig &config)

void initialize() override

Action apply_action(const Action &desired_action) override

Observation get_latest_observation() override

std::optional<std::string> get_error() override

void shutdown() override

Public Static Attributes

static const std::string LOGGER_NAME = "BoltHumanoidDriver"

class FakeBoltHumanoidDriver : public robot_interfaces_bolt::BaseBoltHumanoidDriver, public robot_interfaces_bolt::BaseBoltHumanoidDriver

#include <bolthumanoid_driver.hpp>

Fake driver for testing (ignores actions and returns some artificial observations).

Public Functions

explicit FakeBoltHumanoidDriver(const BoltHumanoidConfig &config)

void initialize() override

Action apply_action(const Action &desired_action) override

Observation get_latest_observation() override

std::optional<std::string> get_error() override

void shutdown() override

explicit FakeBoltHumanoidDriver(const BoltHumanoidConfig &config)

void initialize() override

Action apply_action(const Action &desired_action) override

Observation get_latest_observation() override

std::optional<std::string> get_error() override

void shutdown() override

Public Static Attributes

static const std::string LOGGER_NAME = "FakeBoltHumanoidDriver"

struct BoltHumanoidObservation : public robot_interfaces::Loggable, public robot_interfaces::Loggable

#include <bolthumanoid_observation.hpp>

Observation of the BoltHumanoid robot.

This observation class contains all the sensor data provided by the BoltHumanoid robot. The names of the attributes correspond to the names used in bolt::BoltHumanoid of the bolt package (for each attribute X, there is a method get_X()). See there for more information.

Public Functions

template<class Archive>
inline void serialize(Archive &archive)

inline std::vector<std::string> get_name() override

inline std::vector<std::vector<double>> get_data() override

template<class Archive>
inline void serialize(Archive &archive)

inline std::vector<std::string> get_name() override

inline std::vector<std::vector<double>> get_data() override

Public Members

Vector9d joint_positions

Measured joint positions.

Vector9d joint_velocities

Measured joint velocities.

Vector9d joint_torques

Measured joint torques.

Vector9d joint_target_torques

Target joint torques applied by the controller.

Eigen::Vector4d slider_positions

Positions of the hardware sliders, if connected (range: 0 to 1)

Eigen::Vector3d imu_accelerometer

Measurement of the IMU accelerometer.

Eigen::Vector3d imu_gyroscope

Measurement of the IMU gyroscope.

Eigen::Vector3d imu_linear_acceleration

Linear acceleration measured by the IMU.

Eigen::Vector4d imu_attitude

Attitude measured by the IMU.

class PyBulletBoltHumanoidDriver : public robot_interfaces_bolt::BaseBoltHumanoidDriver, public robot_interfaces_bolt::BaseBoltHumanoidDriver

#include <bolthumanoid_pybullet_driver.hpp>

Driver for BoltHumanoid in PyBullet simulation.

This driver can be used as a replacement for the “real” BoltHumanoid driver for testing things in simulation.

Warning

The fields imu_linear_acceleration and imu_attitude of the observation are not set by this driver, as the corresponding values are not provided by the simulation.

Public Functions

PyBulletBoltHumanoidDriver(bool real_time_mode = true, bool visualize = true, bool use_fixed_base = false, const std::string &logger_level = "debug")

Parameters:

• real_time_mode – If true, sleep when stepping the simulation, so it runs in real time.

• visualize – If true PyBullet’s visualisation is enabled (“GUI” mode), otherwise it is run in “DIRECT” mode without visualisation.

• use_fixed_base – If true, the robot’s base is fixed and cannot move (i.e. the robot is hanging in the air). Can be useful for debugging.

• logger_level – Output level used by the logger. Has to be a level supported by spdlog (e.g. “debug”, “info”, …). This is only considered if a new logger is initialised, i.e. the level is not changed, if a logger with the name stored in PyBulletBoltHumanoidDriver::LOGGER_NAME does already exist.

void initialize() override

BoltHumanoidObservation get_latest_observation() override

BoltHumanoidAction apply_action(const BoltHumanoidAction &desired_action) override

std::optional<std::string> get_error() override

void shutdown() override

py::object get_bullet_env()

Get the bullet environment instance for direct access to the simulation.

PyBulletBoltHumanoidDriver(bool real_time_mode = true, bool visualize = true, bool use_fixed_base = false, const std::string &logger_level = "debug")

Parameters:

• real_time_mode – If true, sleep when stepping the simulation, so it runs in real time.

• visualize – If true PyBullet’s visualisation is enabled (“GUI” mode), otherwise it is run in “DIRECT” mode without visualisation.

• use_fixed_base – If true, the robot’s base is fixed and cannot move (i.e. the robot is hanging in the air). Can be useful for debugging.

• logger_level – Output level used by the logger. Has to be a level supported by spdlog (e.g. “debug”, “info”, …). This is only considered if a new logger is initialised, i.e. the level is not changed, if a logger with the name stored in PyBulletBoltHumanoidDriver::LOGGER_NAME does already exist.

void initialize() override

BoltHumanoidObservation get_latest_observation() override

BoltHumanoidAction apply_action(const BoltHumanoidAction &desired_action) override

std::optional<std::string> get_error() override

void shutdown() override

py::object get_bullet_env()

Get the bullet environment instance for direct access to the simulation.

Public Static Attributes

static const std::string LOGGER_NAME = "PyBulletBoltHumanoidDriver"

Name of the spdlog logger used.

class BaseBoltHumanoidDriver : public robot_interfaces::RobotDriver<BoltHumanoidAction, BoltHumanoidObservation>, public robot_interfaces::RobotDriver<BoltHumanoidAction, BoltHumanoidObservation>

#include <bolthumanoid_types.hpp>

Base class for BoltHumanoid drivers.

Subclassed by robot_interfaces_bolt::BoltHumanoidDriver, robot_interfaces_bolt::BoltHumanoidDriver, robot_interfaces_bolt::FakeBoltHumanoidDriver, robot_interfaces_bolt::FakeBoltHumanoidDriver, robot_interfaces_bolt::PyBulletBoltHumanoidDriver, robot_interfaces_bolt::PyBulletBoltHumanoidDriver

Public Types

typedef std::shared_ptr<BaseBoltHumanoidDriver> Ptr

typedef std::shared_ptr<const BaseBoltHumanoidDriver> ConstPtr

typedef std::shared_ptr<BaseBoltHumanoidDriver> Ptr

typedef std::shared_ptr<const BaseBoltHumanoidDriver> ConstPtr