rby1_sdk.TorsoCommandBuilder#

class TorsoCommandBuilder#

Bases: pybind11_object

Torso command builder.

Builds commands specifically for the torso component. Accepts different command types (joint position, impedance, Cartesian, etc.) and wraps them into a torso command.

Notes

  • You can pass a command builder (e.g., JointPositionCommandBuilder) directly into .set_torso_command(…) without explicitly creating a TorsoCommandBuilder. Implicit casting automatically wraps it: TorsoCommandBuilder(JointPositionCommandBuilder) is created internally. Therefore, directly using TorsoCommandBuilder is often unnecessary unless you want to explicitly wrap or extend torso-specific logic.

Examples

>>> import numpy as np, rby1_sdk as rby
>>> torso_cmd = (
...     rby.TorsoCommandBuilder(
...         rby.JointPositionCommandBuilder().set_position(np.zeros(6))
...     )
... )
__init__(*args, **kwargs)#

Overloaded function.

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

Construct an empty TorsoCommandBuilder.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, joint_position_command_builder: rby1_sdk.JointPositionCommandBuilder) -> None

Construct from a joint position command.

Parameters:

joint_position_command_builder (JointPositionCommandBuilder) – Command specifying torso joint positions.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, gravity_compensation_command_builder: rby1_sdk.GravityCompensationCommandBuilder) -> None

Construct from a gravity compensation command.

Parameters:

gravity_compensation_command_builder (GravityCompensationCommandBuilder) – Command enabling/disabling gravity compensation for the torso.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, cartesian_command_builder: rby1_sdk.CartesianCommandBuilder) -> None

Construct from a Cartesian command.

Parameters:

cartesian_command_builder (CartesianCommandBuilder) – Command specifying Cartesian targets for the torso.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, impedance_control_command_builder: rby1_sdk.ImpedanceControlCommandBuilder) -> None

Construct from a Cartesian impedance control command.

Parameters:

impedance_control_command_builder (ImpedanceControlCommandBuilder) – Command specifying Cartesian impedance for the torso.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, optimal_control_command_builder: rby1_sdk.OptimalControlCommandBuilder) -> None

Construct from an optimal control command.

Parameters:

optimal_control_command_builder (OptimalControlCommandBuilder) – Command specifying optimal control targets/costs for the torso.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, joint_impedance_control_command_builder: rby1_sdk.JointImpedanceControlCommandBuilder) -> None

Construct from a joint impedance control command.

Parameters:

joint_impedance_control_command_builder (JointImpedanceControlCommandBuilder) – Command specifying joint-space impedance for the torso.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, cartesian_impedance_control_command_builder: rby1_sdk.CartesianImpedanceControlCommandBuilder) -> None

Construct from a Cartesian impedance control command.

Parameters:

cartesian_impedance_control_command_builder (CartesianImpedanceControlCommandBuilder) – Command specifying Cartesian impedance control for the torso.

  1. __init__(self: rby1_sdk.TorsoCommandBuilder, joint_group_position_command_builder: rby1_sdk.JointGroupPositionCommandBuilder) -> None

Construct from a joint group position command.

Parameters:

joint_group_position_command_builder (JointGroupPositionCommandBuilder) – Command specifying joint positions for a named torso joint group.

Methods

__init__(*args, **kwargs)

Overloaded function.

set_command(*args, **kwargs)

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

Overloaded function.

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, joint_position_command_builder: rby1_sdk.JointPositionCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a joint position builder.

Parameters:

joint_position_command_builder (JointPositionCommandBuilder) – Command specifying torso joint positions.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, gravity_compensation_command_builder: rby1_sdk.GravityCompensationCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a gravity compensation builder.

Parameters:

gravity_compensation_command_builder (GravityCompensationCommandBuilder) – Command enabling/disabling torso gravity compensation.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, cartesian_command_builder: rby1_sdk.CartesianCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a Cartesian builder.

Parameters:

cartesian_command_builder (CartesianCommandBuilder) – Command specifying Cartesian pose targets for the torso.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, impedance_control_command_builder: rby1_sdk.ImpedanceControlCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a Cartesian impedance builder.

Parameters:

impedance_control_command_builder (ImpedanceControlCommandBuilder) – Command specifying Cartesian impedance for the torso.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, optimal_control_command_builder: rby1_sdk.OptimalControlCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from an optimal control builder.

Parameters:

optimal_control_command_builder (OptimalControlCommandBuilder) – Command specifying optimal control targets/costs for the torso.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, joint_impedance_control_command_builder: rby1_sdk.JointImpedanceControlCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a joint impedance builder.

Parameters:

joint_impedance_control_command_builder (JointImpedanceControlCommandBuilder) – Command specifying joint-space impedance for the torso.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, cartesian_impedance_control_command_builder: rby1_sdk.CartesianImpedanceControlCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a Cartesian impedance builder.

Parameters:

cartesian_impedance_control_command_builder (CartesianImpedanceControlCommandBuilder) – Command specifying Cartesian impedance control for the torso.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder

  1. set_command(self: rby1_sdk.TorsoCommandBuilder, joint_group_position_command_builder: rby1_sdk.JointGroupPositionCommandBuilder) -> rby1_sdk.TorsoCommandBuilder

Set the torso command from a joint group position builder.

Parameters:

joint_group_position_command_builder (JointGroupPositionCommandBuilder) – Command specifying joint positions for a named torso joint group.

Returns:

Self reference for method chaining.

Return type:

TorsoCommandBuilder