rby1_sdk.BodyComponentBasedCommandBuilder

class BodyComponentBasedCommandBuilder

Bases: pybind11_object

Body component-based command builder.

Provides methods to assign commands to specific body parts: right arm, left arm, and torso. Each setter accepts either the corresponding CommandBuilder wrapper (e.g., ArmCommandBuilder, TorsoCommandBuilder) or a lower-level builder like JointPositionCommandBuilder, which will be automatically cast.

Notes

• For convenience, you can directly pass a JointPositionCommandBuilder (or other valid builders) without explicitly wrapping it in an ArmCommandBuilder or TorsoCommandBuilder. The system will automatically perform the conversion.

• This avoids redundant wrapping and makes usage more concise.

Examples

>>> import numpy as np, rby1_sdk as rby
>>> body = rby.BodyComponentBasedCommandBuilder()
>>> # Implicitly wraps into ArmCommandBuilder
>>> body.set_right_arm_command(
...     rby.JointPositionCommandBuilder().set_position(np.zeros(7))
... )
>>> # Implicitly wraps into TorsoCommandBuilder
>>> body.set_torso_command(
...     rby.JointPositionCommandBuilder().set_position(np.zeros(6))
... )
>>> cmd = rby.RobotCommandBuilder().set_command(body)
>>> # robot.send_command(cmd, priority=1).get()

__init__(self: rby1_sdk.BodyComponentBasedCommandBuilder) → None

Construct a BodyComponentBasedCommandBuilder instance.

Methods

__init__(self)	Construct a BodyComponentBasedCommandBuilder instance.
set_left_arm_command(self, arm_command_builder)	Assign a command to the left arm.
set_right_arm_command(self, arm_command_builder)	Assign a command to the right arm.
set_torso_command(self, torso_command_builder)	Assign a command to the torso.