robot_interfaces_solo.show_data module

Classes and functions to implement the “show data” applications for Solo8/12.

class robot_interfaces_solo.show_data.BackendMode(value)

Bases: Enum

Different backend types.

FAKE = 1

PYBULLET = 2

REAL = 0

class robot_interfaces_solo.show_data.Robot(robot_name: str, solo_module: module, n_joints: int, config_file: str, backend_mode: BackendMode = BackendMode.REAL)

Bases: object

Wrapper around the robot interface for running in different control modes.

Before using the robot, initialize() needs to be called to start the robot. Then update() should be called in a loop at 1 kHz to run the controller. While running, the control mode can be changed at any time, using set_control_mode().

class ControlMode(value)

Bases: Enum

The different control modes supported by the Robot class.

HOLD_POSITION = 2

Use position controller to hold all joints at their current position.

ZERO_TORQUE = 1

Apply zero torque on all joints.

initialize(control_mode: ControlMode) → None

Initialize the robot. Needs to be called before update().

Parameters:

control_mode – The control mode with which the robot is started.

set_control_mode(mode: ControlMode) → None

Set the control mode.

See ControlMode for the available modes.

update() → Tuple

Get robot data and send a new command to the robot.

This method is expected to be called in the control loop. The command that is sent depends on the selected control mode (see set_control_mode()).

class robot_interfaces_solo.show_data.SliderBar(label: str)

Bases: ProgressBar

urwid widget to show the position of a slider via a progress bar.

get_text() → str

Text that is shown on the progress bar (override of urwid.ProgressBar).

set_position(position: float) → None

Set position of the slider.

Parameters:

position – Slider position in range [0, 1].

class robot_interfaces_solo.show_data.Window(robot: Robot)

Bases: object

Manages the TUI.

urwid-based TUI for showing the robot data and setting the control mode.

run() → None

Run the application.

Runs the TUI mainloop which also takes care of updating the robot controller.

set_control_mode(mode: ControlMode) → None

Set robot control mode and update the corresponding label in the TUI.

update() → None

Execute one iteration of robot controller and TUI data update.

robot_interfaces_solo.show_data.labeled_vector(label: str, vector: Sequence, fmt: str = '% .4f') → str

Construct string with the label followed by the values of the vector.

Example: .. code-block:: Python

labeled_vector(“Label”, [1, 2, 3]) -> “Label: 1.0000 2.0000 3.0000”

Parameters:

• label – Label put before the values

• vector – Sequence of values

• fmt – Conversion specifier for formatting the values of vector.

Returns:

The constructed string (see example above).

robot_interfaces_solo.show_data.main(robot_name: str, solo_module: module, n_joints: int) → None

Show all sensor data of Solo8/12.

Show all data from observation, status and applied action in a simple TUI. Press M to toggle between position control mode (holding all joints at their current position) and zero torque mode.

Parameters:

• robot_name – Name of the robot (only used for displaying it).

• solo_module – The Python module that provides all the classes/functions for the robot interface.

• n_joints – Number of joints of the robot.