MasterArm#

rb::upc::MasterArm is the SDK-side helper for the RB-Y1 master-arm device. It wraps device initialization, torque management, and a local control loop around the master-arm hardware.

Header

#include <rby1-sdk/upc/master_arm.h>

Declaration

Namespace	`rb::upc`
Kind	`class`
Primary role	Manage master-arm initialization, torque, and callback-driven control.

Public Member Functions

Method group	Purpose	Notes
`MasterArm(...)` and `Initialize(...)`	Construct and initialize the device.	Initialization is the required bring-up step.
`EnableTorque()` and `DisableTorque()`	Turn master-arm torque on or off.	Common in startup and shutdown flow.
`SetControlPeriod(...)`, `SetModelPath(...)`, `SetTorqueConstant(...)`	Configure control timing and model constants.	Use before entering control.
`StartControl(...)` and `StopControl(...)`	Run or stop the master-arm control callback.	`StopControl(...)` can optionally disable torque.

Detailed Reference

class MasterArm#

Public Functions

explicit MasterArm(const std::string &dev_name = kMasterArmDeviceName)#

~MasterArm()#

bool DisableTorque()#

bool EnableTorque()#

std::vector<int> Initialize(bool verbose = false)#

void SetControlPeriod(double control_period)#

void SetModelPath(const std::string &model_path)#

void SetTorqueConstant(const std::array<double, kDOF> &torque_constant)#

bool StartControl(const std::function<ControlInput(const State &state)> &control = nullptr)#

bool StopControl(bool torque_disable = false)#

Public Static Attributes

static int kDeivceCount = kDOF + 2#

static int kDOF = 14#

static int kLeftToolId = 0x81#

static double kMaximumTorque = 4.#

static int kRightToolId = 0x80#

static double kTorqueScaling = 0.5#

struct ControlInput#

Public Members

Eigen::Vector<int, kDOF> target_operating_mode#

Eigen::Vector<double, kDOF> target_position#

Eigen::Vector<double, kDOF> target_torque#

struct State#

Public Members

DynamixelBus::ButtonState button_left#

DynamixelBus::ButtonState button_right#

Eigen::Vector<double, kDOF> gravity_term#

Eigen::Vector<int, kDOF> operating_mode#

Eigen::Vector<double, kDOF> q_joint#

Eigen::Vector<double, kDOF> qvel_joint#

math::SE3::MatrixType T_left#

math::SE3::MatrixType T_right#

Eigen::Vector<double, kDOF> target_position#

Eigen::Vector<double, kDOF> torque_joint#

Related Types

Examples

demo_motion_with_master_arm.cpp
module_test/master_arm.cpp
teleoperation_with_joint_mapping.cpp