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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.

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Inherited methods

  • From Robot: addSensor, getImage, getState, getPosition, getOrientation, moveByVelocity, cleanup

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init

Quadruped.__init__(server_port: int = 4774, enable_websocket: bool = True, client_timeout: float = 30.0) -> None
Initialize quadruped robot.
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Arguments
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server_port (int)
int
Port for WebSocket server (default 4774)
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enable_websocket (bool)
bool
Whether to start the WebSocket server (default True)
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client_timeout (float)
float
Client timeout in seconds (default 30.0)
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Returns
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returns
None

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standUp

Quadruped.standUp() -> None
Command the robot to stand up. Transitions the robot from a lying or sitting position to a standing position. The robot should be stable and ready for locomotion after this command completes.
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Returns
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returns
None
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Raises
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NotImplementedError
Must be implemented by subclasses

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lieDown

Quadruped.lieDown() -> None
Command the robot to lie down. Transitions the robot to a lying position where it can be safely powered off. This is typically the lowest power consumption pose.
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Returns
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returns
None
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Raises
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NotImplementedError
Must be implemented by subclasses

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getJointAngles

Quadruped.getJointAngles() -> list[float]
Get current joint angles in radians.
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Returns
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list[float]
list[float]
Current joint angles in radians, ordered by joint index
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Raises
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NotImplementedError
Must be implemented by subclasses

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setJointAngles

Quadruped.setJointAngles(angles: list, blocking: bool = True, moving_time: Optional[float] = None, accel_time: Optional[float] = None) -> None
Set joint angles in radians. Commands the robot to move joints to the specified target angles. Can be blocking or non-blocking depending on the blocking parameter.
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Arguments
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angles (list)
list
required
List of target joint angles in radians
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blocking (bool)
bool
Wait for movement to complete (default True)
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moving_time (Optional[float])
Optional[float]
Time to complete the movement in seconds
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accel_time (Optional[float])
Optional[float]
Time to accelerate/decelerate in seconds
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Returns
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returns
None
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Raises
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NotImplementedError
Must be implemented by subclasses

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stop

Quadruped.stop() -> None
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.
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Returns
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returns
None
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Raises
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NotImplementedError
Must be implemented by subclasses

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setDefaultJointAngles

Quadruped.setDefaultJointAngles(joint_pos: list) -> None
Set the default joint position for the robot.
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Arguments
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joint_pos (list)
list
required
value of the joint position
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Returns
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returns
None

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setDefaultJointVelocities

Quadruped.setDefaultJointVelocities(joint_vel: list) -> None
Set the default joint velocity for the robot.
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Arguments
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joint_vel (list)
list
required
value of the joint velocity
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Returns
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returns
None