Documentation Index
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Quadruped
Inherits from: Robot
Abstract base class defining the interface for quadruped robots.
This class extends the base Robot class with additional methods specific to
quadruped locomotion and control.
Inherited methods
- From
Robot: addSensor, getImage, getState, getPosition, getOrientation, moveByVelocity, cleanup
init
Quadruped.__init__(server_port: int = 4774, enable_websocket: bool = True, client_timeout: float = 30.0) -> None
Port for WebSocket server (default 4774)
Whether to start the WebSocket server (default True)
Client timeout in seconds (default 30.0)
standUp
Quadruped.standUp() -> None
Must be implemented by subclasses
lieDown
Quadruped.lieDown() -> None
Must be implemented by subclasses
getJointAngles
Quadruped.getJointAngles() -> list[float]
Current joint angles in radians, ordered by joint index
Must be implemented by subclasses
setJointAngles
Quadruped.setJointAngles(angles: list, blocking: bool = True, moving_time: Optional[float] = None, accel_time: Optional[float] = None) -> None
List of target joint angles in radians
Wait for movement to complete (default True)
moving_time (Optional[float])
Time to complete the movement in seconds
accel_time (Optional[float])
Time to accelerate/decelerate in seconds
Must be implemented by subclasses
stop
Soft e-stop for the robot.
Should stop the robot from moving gracefully while maintaining
balance. The quadruped should remain standing in a stable pose.
Must be implemented by subclasses
setDefaultJointAngles
Quadruped.setDefaultJointAngles(joint_pos: list) -> None
value of the joint position
setDefaultJointVelocities
Quadruped.setDefaultJointVelocities(joint_vel: list) -> None
value of the joint velocity
