rby1_sdk.MobilityCommandBuilder#

class MobilityCommandBuilder#

Bases: pybind11_object

Mobility command builder.

Wraps commands for the robot’s mobility subsystem. It supports both joint-space velocity commands (e.g., differential/mecanum wheels) and planar SE(2) velocity commands.

Notes

  • Typically used inside set_mobility_command(...) of a ComponentBasedCommandBuilder.

  • You do not need to explicitly construct MobilityCommandBuilder if passing a JointVelocityCommandBuilder or SE2VelocityCommandBuilder, as implicit casting will wrap them automatically.

Examples

>>> import numpy as np, rby1_sdk as rby
>>> # Example 1: Joint velocity mobility (e.g., wheel joints)
>>> vel = rby.JointVelocityCommandBuilder().set_velocity(np.full(4, 1.0))
>>> mobility = rby.MobilityCommandBuilder().set_command(vel)
>>> comp = rby.ComponentBasedCommandBuilder().set_mobility_command(mobility)
>>> rc = rby.RobotCommandBuilder().set_command(comp)
>>> # robot.send_command(rc, priority=1).get()
>>>
>>> # Example 2: SE(2) velocity mobility
>>> se2 = rby.SE2VelocityCommandBuilder().set_velocity(np.array([0.2, 0.0]), 0.1)  # vx=0.2 m/s, yaw=0.1 rad/s
>>> comp = rby.ComponentBasedCommandBuilder().set_mobility_command(se2)  # implicit wrap
>>> rc = rby.RobotCommandBuilder().set_command(comp)
__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: rby1_sdk.MobilityCommandBuilder) -> None

Construct a MobilityCommandBuilder instance.

  1. __init__(self: rby1_sdk.MobilityCommandBuilder, joint_velocity_command_builder: rby1_sdk.JointVelocityCommandBuilder) -> None

Construct a MobilityCommandBuilder from a joint velocity command.

Parameters:

joint_velocity_command_builder (JointVelocityCommandBuilder) – Joint-space velocity command (e.g., wheel joint velocities).

  1. __init__(self: rby1_sdk.MobilityCommandBuilder, se2_velocity_command_builder: rby1_sdk.SE2VelocityCommandBuilder) -> None

Construct a MobilityCommandBuilder from an SE(2) velocity command.

Parameters:

se2_velocity_command_builder (SE2VelocityCommandBuilder) – Planar velocity command in SE(2).

Methods

__init__(*args, **kwargs)

Overloaded function.

set_command(*args, **kwargs)

Overloaded function.
set_command(*args, **kwargs)#

Overloaded function.

  1. set_command(self: rby1_sdk.MobilityCommandBuilder, joint_velocity_command_builder: rby1_sdk.JointVelocityCommandBuilder) -> rby1_sdk.MobilityCommandBuilder

Assign a joint velocity command.

Parameters:

joint_velocity_command_builder (JointVelocityCommandBuilder) – Joint-space velocity command (rad/s for each mobility joint).

Returns:

Self reference for method chaining.

Return type:

MobilityCommandBuilder

  1. set_command(self: rby1_sdk.MobilityCommandBuilder, se2_velocity_command_builder: rby1_sdk.SE2VelocityCommandBuilder) -> rby1_sdk.MobilityCommandBuilder

Assign an SE(2) velocity command.

Parameters:

se2_velocity_command_builder (SE2VelocityCommandBuilder) – Planar velocity command with linear [m/s] and angular [rad/s] components.

Returns:

Self reference for method chaining.

Return type:

MobilityCommandBuilder