robot_interfaces_solo.solo12 module

class robot_interfaces_solo.solo12.Action

Bases: pybind11_object

Action for Solo12

static Zero()

Create a zero-torque action

property joint_position_gains

P-gains for the on-board controller, one per joint.

property joint_positions

Desired joint positions of the P controller running on the card. For this to have an effect joint_position_gains needs to be set as well.

property joint_torques

List of desired torques, one per joint.

property joint_velocities

desired joint velocity of the D controller running on the card. For this to have an effect, joint_velocity_gains needs to be set as well.

property joint_velocity_gains

D-gains for the on-barod controller, one per joint.

class robot_interfaces_solo.solo12.Backend

Bases: pybind11_object

get_termination_reason()

initialize()

is_running()

request_shutdown()

wait_until_first_action()

wait_until_terminated()

class robot_interfaces_solo.solo12.BaseData

Bases: pybind11_object

class robot_interfaces_solo.solo12.BaseSolo12Driver

Bases: pybind11_object

class robot_interfaces_solo.solo12.BinaryLogReader(filename: str)

Bases: pybind11_object

See read_file().

property data

Contains the log entries.

Type:

List[LogEntry]

read_file(filename: str)

Read data from the specified binary robot log file.

The data is stored to data.

Parameters:

filename (str) – Path to the robot log file.

class robot_interfaces_solo.solo12.Config

Bases: pybind11_object

static from_file()

Load configuration from a YAML file (using default values for parameters missing in the file).

property home_offset_rad

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

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

property max_motor_current_A

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

property network_interface

Name of the network interface to which the robot is connected (e.g. ‘eth0’)

property 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.

class robot_interfaces_solo.solo12.Frontend

Bases: pybind11_object

append_desired_action()

get_applied_action()

get_current_timeindex()

get_desired_action()

get_observation()

get_status()

get_timestamp_ms()

wait_until_timeindex()

class robot_interfaces_solo.solo12.LogEntry

Bases: pybind11_object

Represents the logged of one time step.

property applied_action

property desired_action

property observation

property status

property timeindex

property timestamp

class robot_interfaces_solo.solo12.Logger

Bases: pybind11_object

class Format

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = <Format.BINARY: 0>

CSV = <Format.CSV: 1>

CSV_GZIP = <Format.CSV_GZIP: 2>

property name

property value

reset()

save_current_robot_data()

save_current_robot_data_binary()

start()

stop()

stop_and_save()

class robot_interfaces_solo.solo12.MultiProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

class robot_interfaces_solo.solo12.Observation

Bases: pybind11_object

property imu_accelerometer

property imu_attitude

property imu_gyroscope

property imu_linear_acceleration

property joint_encoder_index

property joint_positions

property joint_target_torques

property joint_torques

property joint_velocities

property num_lost_command_packets

property num_lost_sensor_packets

property num_sent_command_packets

property num_sent_sensor_packets

property slider_positions

class robot_interfaces_solo.solo12.PyBulletDriver

Bases: BaseSolo12Driver

get_bullet_env()

class robot_interfaces_solo.solo12.SingleProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

robot_interfaces_solo.solo12.clear_memory()

robot_interfaces_solo.solo12.create_backend()

robot_interfaces_solo.solo12.create_fake_backend()

robot_interfaces_solo.solo12.create_follower__ActionMultiProcessTimeSeries()

robot_interfaces_solo.solo12.create_follower__ObservationMultiProcessTimeSeries()

robot_interfaces_solo.solo12.create_leader__ActionMultiProcessTimeSeries()

robot_interfaces_solo.solo12.create_leader__ObservationMultiProcessTimeSeries()

robot_interfaces_solo.solo12.create_pybullet_backend()

robot_interfaces_solo.solo12.create_real_backend()