rby1_sdk.RobotCommandBuilder#

class RobotCommandBuilder#

Bases: pybind11_object

Robot command builder.

Top-level builder that aggregates all types of commands into a single robot command. It can wrap a WholeBodyCommandBuilder, ComponentBasedCommandBuilder, or JogCommandBuilder, and is the final object passed to robot.send_command(...).

Notes

  • Typically, you do not build this manually for each subsystem. Instead, construct subsystem builders (e.g., ComponentBasedCommandBuilder with body/head/mobility commands) and wrap them in RobotCommandBuilder.

  • Jog commands can also be wrapped directly for lightweight incremental motions.

  • Implicit casting is supported, so passing compatible builders automatically creates the appropriate wrapper.

Examples

>>> import numpy as np, rby1_sdk as rby
>>> # Example 1: Full stop
>>> stop = rby.StopCommandBuilder()
>>> whole = rby.WholeBodyCommandBuilder().set_command(stop)
>>> rc = rby.RobotCommandBuilder().set_command(whole)
>>> # robot.send_command(rc, priority=0).get()
>>>
>>> # Example 2: Move right arm with a joint position command
>>> jp = rby.JointPositionCommandBuilder().set_position(np.zeros(7))
>>> body = rby.BodyComponentBasedCommandBuilder().set_right_arm_command(jp)
>>> comp = rby.ComponentBasedCommandBuilder().set_body_command(body)
>>> rc = rby.RobotCommandBuilder().set_command(comp)
>>> # robot.send_command(rc, priority=1).get()
>>>
>>> # Example 3: Send a jog command
>>> jog = rby.JogCommandBuilder().set_joint_name("right_arm_0") \
...     .set_command(rby.JogCommandBuilder.RelativePosition(0.1))
>>> rc = rby.RobotCommandBuilder().set_command(jog)
>>> # robot.send_command(rc, priority=1).get()
__init__(*args, **kwargs)#

Overloaded function.

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

Construct a RobotCommandBuilder instance.

  1. __init__(self: rby1_sdk.RobotCommandBuilder, whole_body_command_builder: rby1_sdk.WholeBodyCommandBuilder) -> None

Construct a RobotCommandBuilder from a WholeBodyCommandBuilder.

Parameters:

whole_body_command_builder (WholeBodyCommandBuilder) – Whole-body command wrapper.

  1. __init__(self: rby1_sdk.RobotCommandBuilder, component_based_command_builder: rby1_sdk.ComponentBasedCommandBuilder) -> None

Construct a RobotCommandBuilder from a ComponentBasedCommandBuilder.

Parameters:

component_based_command_builder (ComponentBasedCommandBuilder) – Component-based command wrapper (mobility, body, head).

  1. __init__(self: rby1_sdk.RobotCommandBuilder, jog_command_builder: rby1_sdk.JogCommandBuilder) -> None

Construct a RobotCommandBuilder from a JogCommandBuilder.

Parameters:

jog_command_builder (JogCommandBuilder) – Jog command wrapper for single-joint incremental motion.

Methods

__init__(*args, **kwargs)

Overloaded function.

set_command(*args, **kwargs)

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

Overloaded function.

  1. set_command(self: rby1_sdk.RobotCommandBuilder, whole_body_command_builder: rby1_sdk.WholeBodyCommandBuilder) -> rby1_sdk.RobotCommandBuilder

Assign a whole-body command.

Parameters:

whole_body_command_builder (WholeBodyCommandBuilder) – Command to apply to the entire robot.

Returns:

Self reference for method chaining.

Return type:

RobotCommandBuilder

  1. set_command(self: rby1_sdk.RobotCommandBuilder, component_based_command_builder: rby1_sdk.ComponentBasedCommandBuilder) -> rby1_sdk.RobotCommandBuilder

Assign a component-based command.

Parameters:

component_based_command_builder (ComponentBasedCommandBuilder) – Command to apply to subsystems (mobility, body, head).

Returns:

Self reference for method chaining.

Return type:

RobotCommandBuilder

  1. set_command(self: rby1_sdk.RobotCommandBuilder, jog_command_builder: rby1_sdk.JogCommandBuilder) -> rby1_sdk.RobotCommandBuilder

Assign a jog command.

Parameters:

jog_command_builder (JogCommandBuilder) – Jog command for single-joint incremental motion.

Returns:

Self reference for method chaining.

Return type:

RobotCommandBuilder