rby1_sdk.WholeBodyCommandBuilder#

class WholeBodyCommandBuilder#

Bases: pybind11_object

Whole-body command builder.

Provides a builder interface to construct commands that apply to the entire robot. Currently, its primary role is to wrap and send a StopCommand to halt all motion.

Notes

  • While ComponentBasedCommandBuilder targets subsystems (mobility, body, head), WholeBodyCommandBuilder applies at the global level.

Examples

>>> import rby1_sdk as rby
>>> # Construct a stop command for the whole robot
>>> stop = rby.StopCommandBuilder()
>>> whole = rby.WholeBodyCommandBuilder().set_command(stop)
>>> cmd = rby.RobotCommandBuilder().set_command(whole)
>>> # robot.send_command(cmd, priority=0).get()
__init__(*args, **kwargs)#

Overloaded function.

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

Construct a WholeBodyCommandBuilder instance.

  1. __init__(self: rby1_sdk.WholeBodyCommandBuilder, stop_command_builder: rby1_sdk.StopCommandBuilder) -> None

Construct a WholeBodyCommandBuilder with an initial stop command.

Parameters:

stop_command_builder (StopCommandBuilder) – Stop command to initialize this builder with.

Methods

__init__(*args, **kwargs)

Overloaded function.

set_command(self, stop_command_builder)

Assign a stop command to the whole body.
set_command(self: rby1_sdk.WholeBodyCommandBuilder, stop_command_builder: rby1_sdk.StopCommandBuilder) → rby1_sdk.WholeBodyCommandBuilder#

Assign a stop command to the whole body.

Parameters:

stop_command_builder (StopCommandBuilder) – Stop command to apply globally.

Returns:

Self reference for method chaining.

Return type:

WholeBodyCommandBuilder