rby1_sdk.upc#

Module for controlling and communicating with devices.

Provides utilities for controlling master arm and other devices.

Functions

initialize_device(device_name)

initialize_device(device_name)

Classes

MasterArm

Master arm control interface.
class MasterArm#

Bases: pybind11_object

Master arm control interface.

This class provides control interface for a master arm device with 14 degrees of freedom, including joint control, gravity compensation, and button/trigger input handling.

DOF#

Number of degrees of freedom (14).

Type:

int

DeviceCount#

Total number of devices including tools (16).

Type:

int

TorqueScaling#

Torque scaling factor for gravity compensation (0.5).

Type:

float

MaximumTorque#

Maximum allowed torque in Nm (4.0).

Type:

float

RightToolId#

Device ID for right tool (0x80).

Type:

int

LeftToolId#

Device ID for left tool (0x81).

Type:

int

class ControlInput#

Bases: pybind11_object

Master arm control input.

This class represents the control input for the master arm including target operating modes, positions, and torques.

target_operating_mode#

Target operating modes for each joint.

Type:

numpy.ndarray, shape (14,), dtype=int32

target_position#

Target positions for each joint [rad].

Type:

numpy.ndarray, shape (14,), dtype=float64

target_torque#

Target torques for each joint [Nm].

Type:

numpy.ndarray, shape (14,), dtype=float64

property target_operating_mode#
property target_position#
property target_torque#
class State#

Bases: pybind11_object

Master arm state information.

This class represents the current state of the master arm including joint positions, velocities, torques, and tool states.

q_joint#

Joint positions [rad].

Type:

numpy.ndarray, shape (14,), dtype=float64

qvel_joint#

Joint velocities [rad/s].

Type:

numpy.ndarray, shape (14,), dtype=float64

torque_joint#

Joint torques [Nm].

Type:

numpy.ndarray, shape (14,), dtype=float64

gravity_term#

Gravity compensation terms.

Type:

numpy.ndarray, shape (14,), dtype=float64

operating_mode#

Operating modes for each joint.

Type:

numpy.ndarray, shape (14,), dtype=int32

button_right#

Right tool button and trigger state.

Type:

ButtonState

button_left#

Left tool button and trigger state.

Type:

ButtonState

T_right#

Right tool transformation matrix (SE(3)) with respect to the master arm base.

Type:

numpy.ndarray, shape (4, 4), dtype=float64

T_left#

Left tool transformation matrix (SE(3)) with respect to the master arm base.

Type:

numpy.ndarray, shape (4, 4), dtype=float64

property T_left#
property T_right#
property button_left#
property button_right#
property gravity_term#
property operating_mode#
property q_joint#
property qvel_joint#
property target_position#
property torque_joint#
disable_torque(self: rby1_sdk.upc.MasterArm) → bool#

Disable torque of motors

enable_torque(self: rby1_sdk.upc.MasterArm) → bool#

Enable torque of motors

initialize(self: rby1_sdk.upc.MasterArm, verbose: bool = False) → list[int]#

Initialize the master arm and detect active devices.

Parameters:

verbose (bool, optional) – Whether to print verbose output. Default is False.

Returns:

List of active device IDs.

Return type:

list[int]

set_control_period(self: rby1_sdk.upc.MasterArm, control_period: float) → None#

Set the control update period.

Parameters:

control_period (float) – Control period in seconds.

set_model_path(self: rby1_sdk.upc.MasterArm, model_path: str) → None#

Set the path to the URDF model file.

Parameters:

model_path (str) – Path to the URDF model file.

set_torque_constant(self: rby1_sdk.upc.MasterArm, torque_constant: Annotated[list[float], FixedSize(14)]) → None#

Set torque constant.

Parameters:

  • torque_constant (numpy.ndarray (14, ))

  • model_path (str) – Path to the URDF model file.

start_control(self: rby1_sdk.upc.MasterArm, control: Callable[[rby1_sdk.upc.MasterArm.State], rby1_sdk.upc.MasterArm.ControlInput]) → bool#

Start the control loop.

Parameters:

control (callable, optional) – Control callback function that takes State and returns ControlInput. If None, no control is applied.

Return type:

bool

Examples

>>> master_arm = rby.upc.MasterArm(rby.upc.MasterArmDeviceName)
>>> master_arm.set_model_path("model.urdf") # path/to/master_arm_model.urdf
>>> master_arm.set_control_period(0.01)
>>> active_ids = master_arm.initialize(verbose=True)
>>> if len(active_ids) != rby.upc.MasterArm.DeviceCount:
...     print("Error: Mismatch in the number of devices detected for RBY Master Arm.")
...     exit(1)
>>>
>>> def control(state: rby.upc.MasterArm.State):
...     with np.printoptions(suppress=True, precision=3, linewidth=300):
...         print(f"--- {datetime.datetime.now().time()} ---")
...         print(f"q: {state.q_joint}")
...         print(f"g: {state.gravity_term}")
...         print(
...             f"right: {state.button_right.button}, left: {state.button_left.button}"
...         )
...     input = rby.upc.MasterArm.ControlInput()
...     input.target_operating_mode.fill(rby.DynamixelBus.CurrentControlMode)
...     input.target_torque = state.gravity_term
...     return input
>>>
>>> master_arm.start_control(control)
>>> time.sleep(100)
stop_control(self: rby1_sdk.upc.MasterArm, torque_disable: bool = False) → bool#

Stop the control loop.

Parameters:

torque_disable (bool, optional)

Return type:

bool

DOF = 14#
DeviceCount = 16#
LeftToolId = 129#
MaximumTorque = 4.0#
RightToolId = 128#
TorqueScaling = 0.5#
initialize_device(device_name: str) → None#

initialize_device(device_name)

Initialize a device with the given name.

Sets the latency timer of the device to 1.

Parameters:

device_name (str) – Name of the device to initialize (e.g., ‘/dev/ttyUSB0’, ‘/dev/rby1_master_arm’).

Returns:

True if device initialized successfully, False otherwise.

Return type:

bool