rby1_sdk.Model_M#

class Model_M#

Bases: pybind11_object

Robot model configuration (M).

This class provides access to robot model specifications including joint configurations, degrees of freedom, and component indices.

model_name#

‘M’

Name identifier for the robot model.

Type:

str

robot_dof#

26

Total degrees of freedom.

Type:

int

robot_joint_names#

[‘wheel_fr’, ‘wheel_fl’, ‘wheel_rr’, ‘wheel_rl’, ‘torso_0’, ‘torso_1’, ‘torso_2’, ‘torso_3’, ‘torso_4’, ‘torso_5’, ‘right_arm_0’, ‘right_arm_1’, ‘right_arm_2’, ‘right_arm_3’, ‘right_arm_4’, ‘right_arm_5’, ‘right_arm_6’, ‘left_arm_0’, ‘left_arm_1’, ‘left_arm_2’, ‘left_arm_3’, ‘left_arm_4’, ‘left_arm_5’, ‘left_arm_6’, ‘head_0’, ‘head_1’]

List of joint names in index order.

Type:

list[str]

mobility_idx#

[0, 1, 2, 3]

Indices of mobility components (e.g., wheels).

Type:

list[int]

body_idx#

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

Indices of main body components (excluding mobility and head).

Type:

list[int]

head_idx#

[24, 25]

Indices of head components.

Type:

list[int]

right_arm_idx#

[10, 11, 12, 13, 14, 15, 16]

Indices of right arm components.

Type:

list[int]

left_arm_idx#

[17, 18, 19, 20, 21, 22, 23]

Indices of left arm components.

Type:

list[int]

torso_idx#

[4, 5, 6, 7, 8, 9]

Indices of torso components.

Type:

list[int]

velocity_estimation_required_idx#

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

Indices of joints requiring velocity estimation.

Type:

list[int]

control_period#

0.002000

Control update period in seconds.

Type:

float

__init__(self: rby1_sdk.Model_M) → None#

Construct a model instance.

Methods

__init__(self)

Construct a model instance.

Attributes

body_idx

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

control_period

0.002000

head_idx

[24, 25]

left_arm_idx

[17, 18, 19, 20, 21, 22, 23]

mobility_idx

[0, 1, 2, 3]

model_name

'M'

right_arm_idx

[10, 11, 12, 13, 14, 15, 16]

robot_dof

26

robot_joint_names

['wheel_fr', 'wheel_fl', 'wheel_rr', 'wheel_rl', 'torso_0', 'torso_1', 'torso_2', 'torso_3', 'torso_4', 'torso_5', 'right_arm_0', 'right_arm_1', 'right_arm_2', 'right_arm_3', 'right_arm_4', 'right_arm_5', 'right_arm_6', 'left_arm_0', 'left_arm_1', 'left_arm_2', 'left_arm_3', 'left_arm_4', 'left_arm_5', 'left_arm_6', 'head_0', 'head_1']

torso_idx

[4, 5, 6, 7, 8, 9]

velocity_estimation_required_idx

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
property body_idx#

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

Indices of main body components (excluding mobility and head).

property control_period#

0.002000

Control period in seconds.

property head_idx#

[24, 25]

Indices of head components.

property left_arm_idx#

[17, 18, 19, 20, 21, 22, 23]

Indices of left arm components.

property mobility_idx#

[0, 1, 2, 3]

Indices of mobility components (e.g., wheels).

property model_name#

‘M’

Name identifier for the robot model.

property right_arm_idx#

[10, 11, 12, 13, 14, 15, 16]

Indices of right arm components.

property robot_dof#

26

Total degrees of freedom.

property robot_joint_names#

[‘wheel_fr’, ‘wheel_fl’, ‘wheel_rr’, ‘wheel_rl’, ‘torso_0’, ‘torso_1’, ‘torso_2’, ‘torso_3’, ‘torso_4’, ‘torso_5’, ‘right_arm_0’, ‘right_arm_1’, ‘right_arm_2’, ‘right_arm_3’, ‘right_arm_4’, ‘right_arm_5’, ‘right_arm_6’, ‘left_arm_0’, ‘left_arm_1’, ‘left_arm_2’, ‘left_arm_3’, ‘left_arm_4’, ‘left_arm_5’, ‘left_arm_6’, ‘head_0’, ‘head_1’]

List of joint names in index order.

property torso_idx#

[4, 5, 6, 7, 8, 9]

Indices of torso components.

property velocity_estimation_required_idx#

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

Indices of joints where velocity estimation is essential.