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So101Follower

Inherits from: FeetechMotorsBus, Arm No class docstring.

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Inherited methods

  • From Arm: setNamedPose, removeNamedPose, getNamedPose
  • From Robot: addSensor, getImage, cleanup

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init

So101Follower.__init__(port: str = '/dev/ttyACM1')
No docstring provided.
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Arguments
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port (str)
str
No description provided.

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getJointAngles

So101Follower.getJointAngles() -> list[float]
Get the joint angles in radians.
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Returns
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returns
list[float]

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setJointAngles

So101Follower.setJointAngles(angles: list, blocking = True, moving_time = 0.0, accel_time = None)
Set the joint angles in radians.
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Arguments
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angles (list)
list
required
No description provided.
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blocking
No description provided.
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moving_time
No description provided.
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accel_time
No description provided.

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moveToNamedPose

So101Follower.moveToNamedPose(pose_name: str, moving_time = 2.0)
Move the robot to a named pose.
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Arguments
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pose_name (str)
str
required
No description provided.
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moving_time
No description provided.

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grasp

So101Follower.grasp()
Close the gripper to grasp an object.

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release

So101Follower.release()
Open the gripper to release an object.

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stop

So101Follower.stop()
Soft e-stop the robot.

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shutdown

So101Follower.shutdown()
Turn off motor torques and disconnect from the robot.

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getState

So101Follower.getState() -> dict
Get the state of the robot
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Returns
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dict
dict
state of the robot

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getPosition

So101Follower.getPosition() -> Position | None
Get the position of the robot in the world frame, in meters
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Returns
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Position
Position | None
position of the robot

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getOrientation

So101Follower.getOrientation() -> Orientation | None
Get the orientation of the robot in the world frame
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Returns
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Orientation
Orientation | None
orientation of the robot

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moveByVelocity

So101Follower.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body') -> None
Move the robot by a given velocity in m/s. Due to different form factors for robots, there is no guarantee that the robot will exactly move at the given velocity. Hence, it is recommended to use feedback and state data to ensure that the robot is moving as expected. We also recommend referring to the robot specific documentation for more information on how to use this method.
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Arguments
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linear_velocity (Velocity)
Velocity
required
linear velocity
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angular_velocity (Velocity)
Velocity
required
angular velocity
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frame (str)
str
frame to move in (body or world)
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Returns
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returns
None