Namespace robot_interfaces_solo¶

namespace robot_interfaces_solo¶

Typedefs

template<int X> using Vector = Eigen::Matrix<double, X, 1>¶

typedef _SoloXAction<8> Solo8Action¶

typedef _SoloXAction<12> Solo12Action¶

typedef _SoloXConfig<8> Solo8Config¶: Configuration for the Solo8 driver.

typedef _SoloXConfig<12> Solo12Config¶: Configuration for the Solo12 driver.

typedef _SoloXDriver<8, solo::Solo8> Solo8Driver¶

typedef _SoloXDriver<12, solo::Solo12> Solo12Driver¶

typedef _FakeSoloXDriver<8> FakeSolo8Driver¶

typedef _FakeSoloXDriver<12> FakeSolo12Driver¶

typedef _SoloXObservation<8> Solo8Observation¶

typedef _SoloXObservation<12> Solo12Observation¶

typedef _PyBulletSoloXDriver<8> PyBulletSolo8Driver¶

typedef _PyBulletSoloXDriver<12> PyBulletSolo12Driver¶

typedef _BaseSoloXDriver<8> BaseSolo8Driver¶

typedef robot_interfaces::RobotBackend<Solo8Action, Solo8Observation> Solo8Backend¶

typedef robot_interfaces::RobotFrontend<Solo8Action, Solo8Observation> Solo8Frontend¶

typedef robot_interfaces::RobotData<Solo8Action, Solo8Observation> Solo8Data¶

typedef robot_interfaces::SingleProcessRobotData<Solo8Action, Solo8Observation> Solo8SingleProcessData¶

typedef robot_interfaces::MultiProcessRobotData<Solo8Action, Solo8Observation> Solo8MultiProcessData¶

typedef _BaseSoloXDriver<12> BaseSolo12Driver¶

typedef robot_interfaces::RobotBackend<Solo12Action, Solo12Observation> Solo12Backend¶

typedef robot_interfaces::RobotFrontend<Solo12Action, Solo12Observation> Solo12Frontend¶

typedef robot_interfaces::RobotData<Solo12Action, Solo12Observation> Solo12Data¶

typedef robot_interfaces::SingleProcessRobotData<Solo12Action, Solo12Observation> Solo12SingleProcessData¶

typedef robot_interfaces::MultiProcessRobotData<Solo12Action, Solo12Observation> Solo12MultiProcessData¶

Functions

template<typename T> void _set_optional_config_value(const YAML::Node &user_config, const std::string &name, T *var)¶

Solo12Backend::Ptr create_real_solo12_backend(Solo12Data::Ptr robot_data, const Solo12Config &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 Solo12 driver (real robot).

See also

Solo12Driver

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 Solo12 driver.

Solo12Backend::Ptr create_fake_solo12_backend(Solo12Data::Ptr robot_data, const Solo12Config &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 Solo12 driver (for testing).

Arguments are the same as for create_real_solo12_backend.

See also

FakeSolo12Driver

See also

create_real_solo12_backend

Solo8Backend::Ptr create_real_solo8_backend(Solo8Data::Ptr robot_data, const Solo8Config &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 Solo8 driver (real robot).

See also

Solo8Driver

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 Solo8 driver.

Solo8Backend::Ptr create_fake_solo8_backend(Solo8Data::Ptr robot_data, const Solo8Config &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 Solo8 driver (for testing).

Arguments are the same as for create_real_solo8_backend.

See also

FakeSolo8Driver

See also

create_real_solo8_backend

Solo8Backend::Ptr create_pybullet_solo8_backend(Solo8Data::Ptr robot_data, const Solo8Config &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 Solo8 driver (for testing).

Arguments are the same as for create_real_solo8_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_solo8_backend.

See also

_PyBulletSoloXDriver

See also

create_solo8_backend

See also

create_real_solo8_backend

Solo12Backend::Ptr create_pybullet_solo12_backend(Solo12Data::Ptr robot_data, const Solo12Config &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 Solo12 driver (for testing).

Arguments are the same as for create_real_solo12_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_solo12_backend.

See also

_PyBulletSoloXDriver

See also

create_solo12_backend

See also

create_real_solo12_backend

template<typename Backend, typename Data, typename Driver, typename Action, typename Observation> Backend::Ptr create_solox_backend(typename Data::Ptr robot_data, typename Driver::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 SoloX 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 Solo12 driver.

Solo8Backend::Ptr create_solo8_backend(Solo8Data::Ptr robot_data, BaseSolo8Driver::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)¶: Specialisation of create_solox_backend for Solo8.

Solo12Backend::Ptr create_solo12_backend(Solo12Data::Ptr robot_data, BaseSolo12Driver::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)¶: Specialisation of create_solox_backend for Solo12.

template<int X> struct _SoloXAction : public robot_interfaces::Loggable, public robot_interfaces::Loggable ¶

#include <solo_action.hpp>

Action for the Solo robot.

Solo 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

Vector<X> joint_torques = Vector<X>::Zero()¶: Desired joint torques.

Vector<X> joint_positions = Vector<X>::Zero()¶

Desired joint positions.

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

Vector<X> joint_velocities = Vector<X>::Zero()¶

Desired joint velocities.

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

Vector<X> joint_position_gains = Vector<X>::Zero()¶: P-gains of the on-board PD+ controller.

Vector<X> joint_velocity_gains = Vector<X>::Zero()¶: D-gains of the on-board PD+ controller.

Public Static Functions

static inline _SoloXAction<X> 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 _SoloXAction<X> 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.

template<int X> struct _SoloXConfig¶

#include <solo_config.hpp>

Configuration for a SoloX robot using the master board.

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).

Vector<X> home_offset_rad = Vector<X>::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 _SoloXConfig<X> 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 _SoloXConfig<X> 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.

template<int X, typename SoloInterface> class _SoloXDriver : public robot_interfaces_solo::_BaseSoloXDriver<X>, public robot_interfaces_solo::_BaseSoloXDriver<X>

#include <solo_driver.hpp>

Driver to use Solo with master board.

Public Functions

explicit _SoloXDriver(const _SoloXConfig<X> &config)

void initialize() override

_SoloXAction<X> apply_action(const _SoloXAction<X> &desired_action) override

_SoloXObservation<X> get_latest_observation() override

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

void shutdown() override

explicit _SoloXDriver(const _SoloXConfig<X> &config)

void initialize() override

_SoloXAction<X> apply_action(const _SoloXAction<X> &desired_action) override

_SoloXObservation<X> get_latest_observation() override

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

void shutdown() override

Public Static Attributes

static const std::string LOGGER_NAME = "SoloDriver"

template<int X> class _FakeSoloXDriver : public robot_interfaces_solo::_BaseSoloXDriver<X>, public robot_interfaces_solo::_BaseSoloXDriver<X>

#include <solo_driver.hpp>

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

Public Functions

explicit _FakeSoloXDriver(const _SoloXConfig<X> &config)

void initialize() override

_SoloXAction<X> apply_action(const _SoloXAction<X> &desired_action) override

_SoloXObservation<X> get_latest_observation() override

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

void shutdown() override

explicit _FakeSoloXDriver(const _SoloXConfig<X> &config)

void initialize() override

_SoloXAction<X> apply_action(const _SoloXAction<X> &desired_action) override

_SoloXObservation<X> get_latest_observation() override

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

void shutdown() override

Public Static Attributes

static const std::string LOGGER_NAME = "FakeSoloDriver"

template<int X> struct _SoloXObservation : public robot_interfaces::Loggable, public robot_interfaces::Loggable ¶

#include <solo_observation.hpp>

Observation of the Solo robot.

This observation class contains all the sensor data provided by the Solo robot. The names of the attributes correspond to the names used in solo::Solo12 of the solo 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

Vector<X> joint_positions¶: Measured joint positions.

Vector<X> joint_velocities¶: Measured joint velocities.

Vector<X> joint_torques¶: Measured joint torques.

Vector<X> joint_target_torques¶: Target joint torques applied by the controller.

Vector<X> joint_encoder_index¶: Currently not set!

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.

uint32_t num_sent_command_packets¶: Total number of command packets sent to the robot.

uint32_t num_lost_command_packets¶: Number of command packets that were sent to the robot but were lost in transmission.

uint32_t num_sent_sensor_packets¶: Total number of sensor packets sent from the robot.

uint32_t num_lost_sensor_packets¶: Number of sensor packets that were sent from the robot but were lost in transmission.

template<int X> class _PyBulletSoloXDriver : public robot_interfaces_solo::_BaseSoloXDriver<X>, public robot_interfaces_solo::_BaseSoloXDriver<X>

#include <solo_pybullet_driver.hpp>

Driver for Solo in PyBullet simulation.

This driver can be used as a replacement for the “real” Solo 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

_PyBulletSoloXDriver(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 LOGGER_NAME does already exist.

void initialize() override

_SoloXObservation<X> get_latest_observation() override

_SoloXAction<X> apply_action(const _SoloXAction<X> &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.

_PyBulletSoloXDriver(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 LOGGER_NAME does already exist.

void initialize() override

_SoloXObservation<X> get_latest_observation() override

_SoloXAction<X> apply_action(const _SoloXAction<X> &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 = "PyBulletSoloDriver": Name of the spdlog logger used.

template<int X> class _BaseSoloXDriver : public robot_interfaces::RobotDriver<_SoloXAction<X>, _SoloXObservation<X>>, public robot_interfaces::RobotDriver<_SoloXAction<X>, _SoloXObservation<X>>

#include <solo_types.hpp>

Base class for Solo drivers.

Subclassed by robot_interfaces_solo::_FakeSoloXDriver< X >, robot_interfaces_solo::_FakeSoloXDriver< X >, robot_interfaces_solo::_PyBulletSoloXDriver< X >, robot_interfaces_solo::_PyBulletSoloXDriver< X >, robot_interfaces_solo::_SoloXDriver< X, SoloInterface >, robot_interfaces_solo::_SoloXDriver< X, SoloInterface >

Public Types

typedef std::shared_ptr<_BaseSoloXDriver<X>> Ptr

typedef std::shared_ptr<const _BaseSoloXDriver<X>> ConstPtr

typedef std::shared_ptr<_BaseSoloXDriver<X>> Ptr

typedef std::shared_ptr<const _BaseSoloXDriver<X>> ConstPtr