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G1

Inherits from: Humanoid G1 humanoid robot.

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Inherited methods

  • From Humanoid: setDefaultJointAngles, setDefaultJointVelocities
  • From Robot: addSensor, getImage, cleanup

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init

G1.__init__(network_interface_name: str = 'enp118s0', low_level_control: bool = False, hand = None, control_dt: float = 0.02)
No docstring provided.
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Arguments
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network_interface_name (str)
str
No description provided.
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low_level_control (bool)
bool
No description provided.
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hand
No description provided.
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control_dt (float)
float
No description provided.

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moveByVelocity

G1.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'base')
No docstring provided.
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Arguments
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linear_velocity (Velocity)
Velocity
required
No description provided.
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angular_velocity (Velocity)
Velocity
required
No description provided.
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frame (str)
str
No description provided.

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getJointAngles

G1.getJointAngles()
No docstring provided.

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setJointAngles

G1.setJointAngles(angles: list)
No docstring provided.
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Arguments
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angles (list)
list
required
No description provided.

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enableArms

G1.enableArms()
No docstring provided.

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disableArms

G1.disableArms()
No docstring provided.

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zeroArmState

G1.zeroArmState(smooth = False, duration = 3.0)
Move arm joints to zero position.
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Arguments
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smooth
If True, smoothly transition to zero position
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duration
Duration of smooth transition in seconds (only used if smooth=True)

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moveToDefaultLeftArmState

G1.moveToDefaultLeftArmState(repeat = False, smooth = None)
No docstring provided.
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Arguments
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repeat
No description provided.
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smooth
No description provided.

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getLeftArmIndices

G1.getLeftArmIndices()
No docstring provided.

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getRightArmIndices

G1.getRightArmIndices()
No docstring provided.

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setLeftArmAngles

G1.setLeftArmAngles(angles: Union[list, np.ndarray], kd_scale = 1.0, smooth = False, duration = 2.0)
Set left arm joint angles.
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Arguments
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angles (Union[list, np.ndarray])
Union[list, np.ndarray]
required
7 target angles for left arm joints [shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw]
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kd_scale
Scale factor for damping gains
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smooth
If True, smoothly transition to target angles
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duration
Duration of smooth transition in seconds (only used if smooth=True)

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setRightArmAngles

G1.setRightArmAngles(angles: Union[list, np.ndarray], kd_scale = 1.0, smooth = False, duration = 2.0)
Set right arm joint angles.
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Arguments
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angles (Union[list, np.ndarray])
Union[list, np.ndarray]
required
7 target angles for right arm joints [shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw]
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kd_scale
Scale factor for damping gains
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smooth
If True, smoothly transition to target angles
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duration
Duration of smooth transition in seconds (only used if smooth=True)

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setArmAngles

G1.setArmAngles(angles: Union[list, np.ndarray, dict], kd_scale = 1.0, smooth = False, duration = 2.0)
Set arm joint angles.
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Arguments
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angles (Union[list, np.ndarray, dict])
Union[list, np.ndarray, dict]
required
Target angles as list, numpy array, or dictionary
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kd_scale
Scale factor for damping gains
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smooth
If True, smoothly transition to target angles
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duration
Duration of smooth transition in seconds (only used if smooth=True)

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getPosition

G1.getPosition()
No docstring provided.

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getOrientation

G1.getOrientation()
No docstring provided.

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getState

G1.getState()
No docstring provided.

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getLowState

G1.getLowState()
No docstring provided.

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stop

G1.stop()
No docstring provided.