rby1_sdk.Robot_M¶

class Robot_M¶

Bases: pybind11_object

Robot (model: Model_M) control interface.

Provides high-level control interface for robot operations including connection management, power control, and command execution.

model¶

Robot model configuration.

Type:: Model_M

__init__(*args, **kwargs)¶

Methods

`__init__`(args, *kwargs)
`brake_engage`(self, dev_name)	Engage the brake for a device.
`brake_release`(self, dev_name)	brake_release(dev_name)
`cancel_control`(self)	Cancel current control operation.
`connect`(self[, max_retries, timeout_ms])	Attempts to establish a connection with the robot.
`connect_wifi`(self, ssid[, password, ...])	Connect to WiFi network.
`control`(self, control[, port, priority])	Start a blocking real-time control loop using a custom control callback.
`create`(address)	Create a robot instance.
`create_command_stream`(self[, priority])	Create a command stream for continuous command sending.
`disable_control_manager`(self)	Disable the control manager.
`disconnect`(self)	Disconnects from the robot.
`disconnect_wifi`(self)	Disconnect from WiFi network.
`download_file`(self, path, file_like)	Downloads a file from the robot and writes it into a file-like object.
`enable_control_manager`(self[, ...])	Enable the control manager.
`factory_reset_all_parameters`(self)	Factory reset all parameters to their default values.
`factory_reset_parameter`(self, name)	Factory reset a parameter to its default value.
`get_control_manager_state`(self)	Get control manager state.
`get_dynamics`(self[, urdf_model])	Get robot dynamics model.
`get_fault_log_list`(self)	Get fault log list.
`get_head_position_pid_gains`(self)	Get head position PID gains.
`get_last_log`(self, count)	Get last log entries.
`get_left_arm_position_pid_gains`(self)	Get left arm position PID gains.
`get_parameter`(self, name)	Retrieve a robot parameter.
`get_parameter_list`(self)	Get list of available parameters.
`get_position_pid_gain`(self, dev_name)	Get position PID gains for a device.
`get_right_arm_position_pid_gains`(self)	Get right arm position PID gains.
`get_robot_info`(self)	Retrieves static information about the robot, such as model name, SDK version, and joint configuration.
`get_robot_model`(self)	Get the current robot URDF model.
`get_serial_device_list`(self)	Get list of available serial devices on the robot.
`get_state`(self)	Get current robot state.
`get_system_time`(self)	Get robot system time.
`get_time_scale`(self)	Get the current time scale.
`get_torso_position_pid_gains`(self)	Get torso position PID gains.
`get_wifi_status`(self)	Get WiFi connection status.
`has_established_time_sync`(self)	Check if time synchronization is established.
`home_offset_reset`(self, dev_name)	Reset home offset for a device.
`import_robot_model`(self, name, model)	Import a robot model.
`is_connected`(self)	Checks whether the robot is currently connected.
`is_power_on`(self, dev_name)	Check if a device is powered on.
`is_servo_on`(self, dev_name)	Check if servo control is enabled for a device.
`model`()	Get the robot model configuration.
`open_serial_stream`(self, device_path, baudrate)	Open a serial stream.
`power_off`(self, dev_name)	Power off a device.
`power_on`(self, dev_name)	Power on a device.
`reset_all_parameters`(self)	Reset all parameters to their current values.
`reset_all_parameters_to_default`(self)	Reset all parameters to their default values (deprecated).
`reset_battery_config`(self)	Reset battery configuration to default.
`reset_fault_control_manager`(self)	Reset fault in the control manager.
`reset_network_setting`(self)	Reset network settings to default.
`reset_odometry`(self, angle, position)	reset_odometry(angle, position)
`reset_parameter`(self, name)	Reset a parameter to its current value.
`reset_parameter_to_default`(self, name)	Reset a parameter to its default value (deprecated).
`scan_wifi`(self)	Scan for available WiFi networks.
`send_command`(self, builder[, priority])	Send a command to the robot.
`servo_off`(self, dev_name)	Disable servo control for a device.
`servo_on`(self, dev_name)	Enable servo control for a device.
`set_battery_config`(self, cutoff_voltage, ...)	Set battery configuration.
`set_battery_level`(self, arg0)	Set battery level.
`set_led_color`(self, color[, duration, ...])	Set LED color.
`set_parameter`(self, name, value[, write_db])	Set a robot parameter.
`set_position_d_gain`(self, dev_name, d_gain)	Set position D gain for a device.
`set_position_i_gain`(self, dev_name, i_gain)	Set position I gain for a device.
`set_position_p_gain`(self, dev_name, p_gain)	Set position P gain for a device.
`set_position_pid_gain`(args, *kwargs)	Overloaded function.
`set_preset_position`(self, joint_name)	Set preset position for a joint (only available for PVL-based motors).
`set_system_time`(args, *kwargs)	Overloaded function.
`set_time_scale`(self, time_scale)	Set the time scale for motion execution.
`set_tool_flange_digital_output`(self, name, ...)	Set the digital output state of a specific channel on the tool flange of the specified arm.
`set_tool_flange_digital_output_dual`(self, ...)	Set the digital output states of two channels on the tool flange of the specified arm simultaneously.
`set_tool_flange_output_voltage`(self, name, ...)	Set tool flange output voltage.
`start_log_stream`(self, cb, rate)	Start log stream callback.
`start_state_update`(self, cb, rate)	Start state update callback.
`start_time_sync`(self, period_sec)	Start time synchronization.
`stop_log_stream`(self)	Stop log stream callback.
`stop_state_update`(self)	Stop state update callback.
`stop_time_sync`(self)	Stop time synchronization.
`sync_time`(self)	Synchronizes the timestamp of `RobotState` to UPC time instead of UTC.
`wait_for_control_ready`(self, timeout_ms)	Wait until the robot is ready to accept control commands.