toddlerbot.actuation package¶

Submodules¶

toddlerbot.actuation.dynamixel_cpp module¶

class toddlerbot.actuation.dynamixel_cpp.DynamixelControl¶: Bases: pybind11_object

toddlerbot.actuation.dynamixel_cpp.close(controllers: collections.abc.Sequence[toddlerbot.actuation.dynamixel_cpp.DynamixelControl]) → None¶: Disable torque and disconnect all specified DynamixelControl instances

toddlerbot.actuation.dynamixel_cpp.create_controllers(port_pattern: str, kp: collections.abc.Sequence[SupportsFloat], kd: collections.abc.Sequence[SupportsFloat], zero_pos: collections.abc.Sequence[SupportsFloat], control_mode: collections.abc.Sequence[str], baudrate: SupportsInt, return_delay: SupportsInt) → list[toddlerbot.actuation.dynamixel_cpp.DynamixelControl]¶

toddlerbot.actuation.dynamixel_cpp.disable_motors(controllers: collections.abc.Sequence[toddlerbot.actuation.dynamixel_cpp.DynamixelControl]) → None¶: Disable torque on all motors across all controllers

toddlerbot.actuation.dynamixel_cpp.get_motor_ids(controllers: collections.abc.Sequence[toddlerbot.actuation.dynamixel_cpp.DynamixelControl]) → dict[str, list[int]]¶: Get motor IDs for each controller

toddlerbot.actuation.dynamixel_cpp.get_motor_states(controllers: collections.abc.Sequence[toddlerbot.actuation.dynamixel_cpp.DynamixelControl], retries: SupportsInt) → dict[str, dict[str, list[float]]]¶: Get state of all motors across all controllers

toddlerbot.actuation.dynamixel_cpp.initialize(controllers: collections.abc.Sequence[toddlerbot.actuation.dynamixel_cpp.DynamixelControl]) → None¶: Connect to client and initialize motors on each controller

toddlerbot.actuation.dynamixel_cpp.scan_port(port_name: str, baudrate: SupportsInt, protocol_version: SupportsInt, max_motor_id: SupportsInt) → list[int]¶

toddlerbot.actuation.dynamixel_cpp.set_motor_pos(controllers: collections.abc.Sequence[toddlerbot.actuation.dynamixel_cpp.DynamixelControl], pos_vecs: collections.abc.Sequence[collections.abc.Sequence[SupportsFloat]]) → None¶: Set position for each controller’s motors

Module contents¶

Motor actuation and control interfaces.