robot_interfaces package

Submodules

robot_interfaces.py_finger_types module

class robot_interfaces.py_finger_types.Action(torque=[0] * n_joints, position=[nan] * n_joints, position_kp=[nan] * n_joints, position_kd=[nan] * n_joints)

Bases: pybind11_object

Action with desired torque and (optional) position.

The resulting torque command sent to the robot is:

torque_command = torque + PD(position)

To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.

The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set torque to zero for all joints.

Parameters

• torque – Desired torque.

• position – Desired position. Set values to NaN to disable position controller for the corresponding joints

• position_kp – P-gains for the position controller. Set to NaN to use default values.

• position_kd – D-gains for the position controller. Set to NaN to use default values.

property position

List of desired positions, one per joint. If set, a PD position controller is run and the resulting torque is added to torque. Set to NaN to disable position controller (default).

property position_kd

D-gains for position controller, one per joint. If NaN, default is used.

property position_kp

P-gains for position controller, one per joint. If NaN, default is used.

property torque

List of desired torques, one per joint.

class robot_interfaces.py_finger_types.Backend

Bases: pybind11_object

get_termination_reason()

initialize()

is_running()

request_shutdown()

wait_until_first_action()

wait_until_terminated()

class robot_interfaces.py_finger_types.BaseData

Bases: pybind11_object

class robot_interfaces.py_finger_types.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.py_finger_types.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.py_finger_types.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.py_finger_types.Logger

Bases: pybind11_object

class Format

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = Format.BINARY

CSV = Format.CSV

CSV_GZIP = Format.CSV_GZIP

property name

reset()

save_current_robot_data()

save_current_robot_data_binary()

start()

start_continous_writing()

stop()

stop_and_save()

stop_continous_writing()

write_current_buffer()

write_current_buffer_binary()

class robot_interfaces.py_finger_types.MultiProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

class robot_interfaces.py_finger_types.Observation

Bases: pybind11_object

property position

List of angular joint positions [rad], one per joint.

property tip_force

Measurements of the push sensors at the finger tips, one per finger. Ranges between 0 and 1.

property torque

List of torques [Nm], one per joint.

property velocity

List of angular joint velocities [rad/s], one per joint.

class robot_interfaces.py_finger_types.SingleProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

robot_interfaces.py_finger_types.clear_memory()

robot_interfaces.py_finger_types.create_follower__ActionMultiProcessTimeSeries()

robot_interfaces.py_finger_types.create_follower__ObservationMultiProcessTimeSeries()

robot_interfaces.py_finger_types.create_leader__ActionMultiProcessTimeSeries()

robot_interfaces.py_finger_types.create_leader__ObservationMultiProcessTimeSeries()

robot_interfaces.py_generic module

class robot_interfaces.py_generic.RobotBackendTerminationReason

Bases: pybind11_object

Members:

NOT_TERMINATED

SHUTDOWN_REQUESTED

MAXIMUM_NUMBER_OF_ACTIONS_REACHED

DRIVER_ERROR

FIRST_ACTION_TIMEOUT

NEXT_ACTION_TIMEOUT

DRIVER_ERROR = RobotBackendTerminationReason.DRIVER_ERROR

FIRST_ACTION_TIMEOUT = RobotBackendTerminationReason.FIRST_ACTION_TIMEOUT

MAXIMUM_NUMBER_OF_ACTIONS_REACHED = RobotBackendTerminationReason.MAXIMUM_NUMBER_OF_ACTIONS_REACHED

NEXT_ACTION_TIMEOUT = RobotBackendTerminationReason.NEXT_ACTION_TIMEOUT

NOT_TERMINATED = RobotBackendTerminationReason.NOT_TERMINATED

SHUTDOWN_REQUESTED = RobotBackendTerminationReason.SHUTDOWN_REQUESTED

property name

handle) -> str

Type

(self

class robot_interfaces.py_generic.Status

Bases: pybind11_object

class ErrorStatus

Bases: pybind11_object

Members:

NO_ERROR : Indicates that there is no error.

DRIVER_ERROR : Error from the low level robot driver (e.g. some hardware failure).

BACKEND_ERROR : Error from the robot back end (e.g. some communication issue).

BACKEND_ERROR = ErrorStatus.BACKEND_ERROR

DRIVER_ERROR = ErrorStatus.DRIVER_ERROR

NO_ERROR = ErrorStatus.NO_ERROR

property name

handle) -> str

Type

(self

property action_repetitions

Number of times the current action has been repeated.

Type

int

property error_status

Current error status.

Type

ErrorStatus

get_error_message(self: robot_interfaces.py_generic.Status) → str

set_error(self: robot_interfaces.py_generic.Status, arg0: robot_interfaces::Status::ErrorStatus, arg1: str) → None

robot_interfaces.py_generic.clear_memory(arg0: str) → None

robot_interfaces.py_generic.create_follower__StatusMultiProcessTimeSeries(arg0: str) → robot_interfaces.py_generic._StatusMultiProcessTimeSeries

robot_interfaces.py_generic.create_leader__StatusMultiProcessTimeSeries(arg0: str, arg1: int, arg2: int) → robot_interfaces.py_generic._StatusMultiProcessTimeSeries

robot_interfaces.py_one_joint_types module

class robot_interfaces.py_one_joint_types.Action(torque=[0] * n_joints, position=[nan] * n_joints, position_kp=[nan] * n_joints, position_kd=[nan] * n_joints)

Bases: pybind11_object

Action with desired torque and (optional) position.

The resulting torque command sent to the robot is:

torque_command = torque + PD(position)

To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.

The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set torque to zero for all joints.

Parameters

• torque – Desired torque.

• position – Desired position. Set values to NaN to disable position controller for the corresponding joints

• position_kp – P-gains for the position controller. Set to NaN to use default values.

• position_kd – D-gains for the position controller. Set to NaN to use default values.

property position

List of desired positions, one per joint. If set, a PD position controller is run and the resulting torque is added to torque. Set to NaN to disable position controller (default).

property position_kd

D-gains for position controller, one per joint. If NaN, default is used.

property position_kp

P-gains for position controller, one per joint. If NaN, default is used.

property torque

List of desired torques, one per joint.

class robot_interfaces.py_one_joint_types.Backend

Bases: pybind11_object

get_termination_reason()

initialize()

is_running()

request_shutdown()

wait_until_first_action()

wait_until_terminated()

class robot_interfaces.py_one_joint_types.BaseData

Bases: pybind11_object

class robot_interfaces.py_one_joint_types.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.py_one_joint_types.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.py_one_joint_types.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.py_one_joint_types.Logger

Bases: pybind11_object

class Format

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = Format.BINARY

CSV = Format.CSV

CSV_GZIP = Format.CSV_GZIP

property name

reset()

save_current_robot_data()

save_current_robot_data_binary()

start()

start_continous_writing()

stop()

stop_and_save()

stop_continous_writing()

write_current_buffer()

write_current_buffer_binary()

class robot_interfaces.py_one_joint_types.MultiProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

class robot_interfaces.py_one_joint_types.Observation

Bases: pybind11_object

property position

List of angular joint positions [rad], one per joint.

property torque

List of torques [Nm], one per joint.

property velocity

List of angular joint velocities [rad/s], one per joint.

class robot_interfaces.py_one_joint_types.SingleProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

robot_interfaces.py_one_joint_types.clear_memory()

robot_interfaces.py_one_joint_types.create_follower__ActionMultiProcessTimeSeries()

robot_interfaces.py_one_joint_types.create_follower__ObservationMultiProcessTimeSeries()

robot_interfaces.py_one_joint_types.create_leader__ActionMultiProcessTimeSeries()

robot_interfaces.py_one_joint_types.create_leader__ObservationMultiProcessTimeSeries()

robot_interfaces.py_solo_eight_types module

class robot_interfaces.py_solo_eight_types.Action(torque=[0] * n_joints, position=[nan] * n_joints, position_kp=[nan] * n_joints, position_kd=[nan] * n_joints)

Bases: pybind11_object

Action with desired torque and (optional) position.

The resulting torque command sent to the robot is:

torque_command = torque + PD(position)

To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.

The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set torque to zero for all joints.

Parameters

• torque – Desired torque.

• position – Desired position. Set values to NaN to disable position controller for the corresponding joints

• position_kp – P-gains for the position controller. Set to NaN to use default values.

• position_kd – D-gains for the position controller. Set to NaN to use default values.

property position

List of desired positions, one per joint. If set, a PD position controller is run and the resulting torque is added to torque. Set to NaN to disable position controller (default).

property position_kd

D-gains for position controller, one per joint. If NaN, default is used.

property position_kp

P-gains for position controller, one per joint. If NaN, default is used.

property torque

List of desired torques, one per joint.

class robot_interfaces.py_solo_eight_types.Backend

Bases: pybind11_object

get_termination_reason()

initialize()

is_running()

request_shutdown()

wait_until_first_action()

wait_until_terminated()

class robot_interfaces.py_solo_eight_types.BaseData

Bases: pybind11_object

class robot_interfaces.py_solo_eight_types.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.py_solo_eight_types.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.py_solo_eight_types.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.py_solo_eight_types.Logger

Bases: pybind11_object

class Format

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = Format.BINARY

CSV = Format.CSV

CSV_GZIP = Format.CSV_GZIP

property name

reset()

save_current_robot_data()

save_current_robot_data_binary()

start()

start_continous_writing()

stop()

stop_and_save()

stop_continous_writing()

write_current_buffer()

write_current_buffer_binary()

class robot_interfaces.py_solo_eight_types.MultiProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

class robot_interfaces.py_solo_eight_types.Observation

Bases: pybind11_object

property position

List of angular joint positions [rad], one per joint.

property torque

List of torques [Nm], one per joint.

property velocity

List of angular joint velocities [rad/s], one per joint.

class robot_interfaces.py_solo_eight_types.SingleProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

robot_interfaces.py_solo_eight_types.clear_memory()

robot_interfaces.py_solo_eight_types.create_follower__ActionMultiProcessTimeSeries()

robot_interfaces.py_solo_eight_types.create_follower__ObservationMultiProcessTimeSeries()

robot_interfaces.py_solo_eight_types.create_leader__ActionMultiProcessTimeSeries()

robot_interfaces.py_solo_eight_types.create_leader__ObservationMultiProcessTimeSeries()

robot_interfaces.py_trifinger_types module

class robot_interfaces.py_trifinger_types.Action(torque=[0] * n_joints, position=[nan] * n_joints, position_kp=[nan] * n_joints, position_kd=[nan] * n_joints)

Bases: pybind11_object

Action with desired torque and (optional) position.

The resulting torque command sent to the robot is:

torque_command = torque + PD(position)

To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.

The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set torque to zero for all joints.

Parameters

• torque – Desired torque.

• position – Desired position. Set values to NaN to disable position controller for the corresponding joints

• position_kp – P-gains for the position controller. Set to NaN to use default values.

• position_kd – D-gains for the position controller. Set to NaN to use default values.

property position

List of desired positions, one per joint. If set, a PD position controller is run and the resulting torque is added to torque. Set to NaN to disable position controller (default).

property position_kd

D-gains for position controller, one per joint. If NaN, default is used.

property position_kp

P-gains for position controller, one per joint. If NaN, default is used.

property torque

List of desired torques, one per joint.

class robot_interfaces.py_trifinger_types.Backend

Bases: pybind11_object

get_termination_reason()

initialize()

is_running()

request_shutdown()

wait_until_first_action()

wait_until_terminated()

class robot_interfaces.py_trifinger_types.BaseData

Bases: pybind11_object

class robot_interfaces.py_trifinger_types.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.py_trifinger_types.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.py_trifinger_types.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.py_trifinger_types.Logger

Bases: pybind11_object

class Format

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = Format.BINARY

CSV = Format.CSV

CSV_GZIP = Format.CSV_GZIP

property name

reset()

save_current_robot_data()

save_current_robot_data_binary()

start()

start_continous_writing()

stop()

stop_and_save()

stop_continous_writing()

write_current_buffer()

write_current_buffer_binary()

class robot_interfaces.py_trifinger_types.MultiProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

class robot_interfaces.py_trifinger_types.Observation

Bases: pybind11_object

property position

List of angular joint positions [rad], one per joint.

property tip_force

Measurements of the push sensors at the finger tips, one per finger. Ranges between 0 and 1.

property torque

List of torques [Nm], one per joint.

property velocity

List of angular joint velocities [rad/s], one per joint.

class robot_interfaces.py_trifinger_types.SingleProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

robot_interfaces.py_trifinger_types.clear_memory()

robot_interfaces.py_trifinger_types.create_follower__ActionMultiProcessTimeSeries()

robot_interfaces.py_trifinger_types.create_follower__ObservationMultiProcessTimeSeries()

robot_interfaces.py_trifinger_types.create_leader__ActionMultiProcessTimeSeries()

robot_interfaces.py_trifinger_types.create_leader__ObservationMultiProcessTimeSeries()

robot_interfaces.py_two_joint_types module

class robot_interfaces.py_two_joint_types.Action(torque=[0] * n_joints, position=[nan] * n_joints, position_kp=[nan] * n_joints, position_kd=[nan] * n_joints)

Bases: pybind11_object

Action with desired torque and (optional) position.

The resulting torque command sent to the robot is:

torque_command = torque + PD(position)

To disable the position controller, set the target position to NaN. The controller is executed joint-wise, so it is possible to run it only for some joints by setting a target position for these joints and setting the others to NaN.

The specified torque is always added to the result of the position controller, so if you only want to run the position controller, make sure to set torque to zero for all joints.

Parameters

• torque – Desired torque.

• position – Desired position. Set values to NaN to disable position controller for the corresponding joints

• position_kp – P-gains for the position controller. Set to NaN to use default values.

• position_kd – D-gains for the position controller. Set to NaN to use default values.

property position

List of desired positions, one per joint. If set, a PD position controller is run and the resulting torque is added to torque. Set to NaN to disable position controller (default).

property position_kd

D-gains for position controller, one per joint. If NaN, default is used.

property position_kp

P-gains for position controller, one per joint. If NaN, default is used.

property torque

List of desired torques, one per joint.

class robot_interfaces.py_two_joint_types.Backend

Bases: pybind11_object

get_termination_reason()

initialize()

is_running()

request_shutdown()

wait_until_first_action()

wait_until_terminated()

class robot_interfaces.py_two_joint_types.BaseData

Bases: pybind11_object

class robot_interfaces.py_two_joint_types.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.py_two_joint_types.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.py_two_joint_types.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.py_two_joint_types.Logger

Bases: pybind11_object

class Format

Bases: pybind11_object

Members:

BINARY

CSV

CSV_GZIP

BINARY = Format.BINARY

CSV = Format.CSV

CSV_GZIP = Format.CSV_GZIP

property name

reset()

save_current_robot_data()

save_current_robot_data_binary()

start()

start_continous_writing()

stop()

stop_and_save()

stop_continous_writing()

write_current_buffer()

write_current_buffer_binary()

class robot_interfaces.py_two_joint_types.MultiProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

class robot_interfaces.py_two_joint_types.Observation

Bases: pybind11_object

property position

List of angular joint positions [rad], one per joint.

property torque

List of torques [Nm], one per joint.

property velocity

List of angular joint velocities [rad/s], one per joint.

class robot_interfaces.py_two_joint_types.SingleProcessData

Bases: BaseData

property applied_action

property desired_action

property observation

property status

robot_interfaces.py_two_joint_types.clear_memory()

robot_interfaces.py_two_joint_types.create_follower__ActionMultiProcessTimeSeries()

robot_interfaces.py_two_joint_types.create_follower__ObservationMultiProcessTimeSeries()

robot_interfaces.py_two_joint_types.create_leader__ActionMultiProcessTimeSeries()

robot_interfaces.py_two_joint_types.create_leader__ObservationMultiProcessTimeSeries()

Module contents