Torso APIs

TorsoFactoryPose4D

The TorsoFactoryPose4D class provides the following method for creating a torso instance.

• Method:

  create_torso_from_config(config_path: str) -> TorsoInterfacePose4D

• Parameter:

  Parameter

  Description

  config_path

  Path to the configuration file. The configuration file must be a JSON file. { "torso_type":"ti5", # Torso vendor "torso_name":"ti5_torso", # Torso name "torso_joint_num":4, # Number of Torso joints "can_device":"can0", # CAN device name "can_id":0, # CAN node ID (0x00~0xFF) "motor_params": [ # Motor parameters { "motor_id": 1, # Motor ID "reduction_ratio": 121, # Reduction ratio "position_max": 1.0, # Maximum rotation angle "position_min":-68.0, # Minimum rotation angle "speed_max": 30, # Maximum rotation speed "speed_min":-30, # Minimum rotation speed "acc_max": 10, # Maximum rotation acceleration "acc_min":-10 # Minimum rotation acceleration } ] }

• Return value:

  An TorsoInterfacePose4D instance if creation succeeds, otherwise None.

TorsoInterfacePose4D

The TorsoInterfacePose4D class provides a series of public methods for controlling the torso, such as obtaining torso joint angles and controlling torso motion. Ensure a torso instance has been created before using these methods.

Connect to the Torso

After creating a torso instance, you can establish a connection to the torso using the following method.

• Method:

  connect(self) -> alphabot.core.AbcErrorCode

• Return Value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Disconnect from the Torso

You can disconnect from the torso using the following method.

• Method:

  disconnect(self) -> alphabot.core.AbcErrorCode

• Return Value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Joint Motion

In joint space, a motion trajectory is planned to drive each joint of the torso to the specified target joint positions.

• Method:

  move_joint_position(
      self,
      joints: list[float],
      v: int,
      block: bool
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  joints	Target joint positions, in degrees.
  v	Percentage of the maximum joint linear velocity and acceleration used for planning. Valid range: 0-100.
  block	Blocking mode flag. Accepts False or True. - False: Non-blocking mode. The method returns immediately after successfully sending the motion command to the controller. - True: Blocking mode. The method waits until the torso completes the motion or an error occurs before returning.

• Return Value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Cartesian Linear Motion

In Cartesian space, a linear motion trajectory is planned to move the torso along a straight line to the specified target pose.

• Method:

  move_cartesian_linear(
      self,
      pose: alphabot.core.AbcTorsoPose4D,
      v: int,
      block: bool
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  pose	Target pose. For details, please refer to AbcTorsoPose4D.
  v	Percentage of the maximum joint linear velocity and acceleration used for planning. Valid range: 0-100.
  block	Blocking mode flag. Accepts False or True. - False: Non-blocking mode. The method returns immediately after successfully sending the motion command to the controller. - True: Blocking mode. The method waits until the torso completes the motion or an error occurs before returning.

• Return Value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Move to Target Pose in Joint Space

In joint space, a motion trajectory is planned to move the torso to the specified target pose.

• Method:

  move_joint_pose(
      self,
      pose: alphabot.core.AbcTorsoPose4D,
      v: int,
      block: bool
  ) -> alphabot.core.AbcErrorCode

• Parameters:

  Parameter	Description
  pose	Target pose. For details, please refer to AbcTorsoPose4D.
  v	Percentage of the maximum joint angular velocity and joint angular acceleration used for planning. Valid range: 0-100.
  block	Blocking mode flag. Accepts False or True. - False: Non-blocking mode. The method returns immediately after successfully sending the motion command to the controller. - True: Blocking mode. The method waits until the torso completes the motion or an error occurs before returning.

• Return Value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Angle Pass-through

Joint angles are sent to the torso via CAN FD (Controller Area Network Flexible Data-rate), bypassing trajectory planning by the controller. If the method is called correctly, the torso executes the motion immediately.

Note

• The pass-through control performance is affected by the communication cycle and trajectory smoothness; therefore, a stable communication cycle is required to avoid large fluctuations.
• When using this feature, it is recommended to plan smooth trajectories to ensure stable operation of the torso.

• Method:

  move_joint_position_canfd(self, joints: list[float]) -> alphabot.core.AbcErrorCode

• Parameter:

  Parameter	Description
  joints	Target joint positions, in degrees.

• Return Value:

  AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.

Get Current Joint Angles

• Method:

  get_joint_degree(self) -> tuple[alphabot.core.AbcErrorCode, list[float]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[float]	Current joint angles.

Get Error Information

• Method:

  get_error_flag(self) -> tuple[alphabot.core.AbcErrorCode, list[int]]

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[int]	Error codes.

Compute Forward Kinematics

• Method:

  forward_kinematics(
      self,
      joints: list[float]
  ) -> tuple[alphabot.core.AbcErrorCode, alphabot.core.AbcTorsoPose4D]

• Parameter:

  Parameter	Description
  joints	Joint angles.

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  AbcTorsoPose4D	Pose computed by forward kinematics. For details, please refer to AbcTorsoPose4D.

Compute Inverse Kinematics

• Method:

  inverse_kinematics(
      self,
      pose: alphabot.core.AbcTorsoPose4D,
      ref_joints: list[float],
      mode: int = 0
  ) -> tuple[alphabot.core.AbcErrorCode, list[float]]

• Parameters:

  Parameter	Description
  pose	The target pose. For details, please refer to AbcTorsoPose4D.
  ref_joints	Reference joint angles.
  mode	Solution mode. Accepts 0 or 1. Default is 0. - 0: Single-step solution. - 1: Iterative search solution.

• Return Value:

  A tuple containing two elements.

  Element Type	Description
  AbcErrorCode	AbcErrorCode.SUCCESS indicates success. For other error codes, please refer to AbcErrorCode.
  list[float]	Joint angles computed by inverse kinematics.

Register Torso State Callback Function

• Method:

  set_torso_state_callback(self, arg0: typing.Callable) -> None

• Parameter:

  Parameter	Description
  arg0	The callback function is called whenever a torso state update is received. The callback function receives a parameter of type AbcTorsoState.

• Return Value:

  None.

Get Torso Name

• Method:

  get_name(self) -> str

• Return Value:

  The name of the torso instance.

AbcTorsoState

Attribute	Data Type	Description
err_code	list[int]	Error codes for each joint
joints_current	list[float]	Current for each joint
joints_positions	list[float]	Angle for each joint
joints_speed	list[float]	Speed for each joint
timestamp	typing.Any	Timestamp