Source code for go2.modules.movement.movement_module
from typing import Tuple
from typing_extensions import override
from ...core.module import DogModule
from ...hardware.hardware_interface_movement import HardwareInterfaceMovement
[docs]
class MovementModule(DogModule):
"""
Users should not access or construct this class directly.
Rather, they should access it through the :class:`~core.controller.Go2Controller` instance.
Important
---------
- Virtual and native movement commands may not function exactly the same way.
Their behavior is not fully transitive across backends, so they should be used with care when switching between them.
Parameters
----------
hardware : HardwareInterfaceMovement
The underlying movement hardware interface that communicates with the robot.
"""
def __init__(self, hardware: HardwareInterfaceMovement) -> None:
"""
Create the MovementModule.
Sets up maximum safe limits for rotation and translation.
"""
super().__init__("Movement")
self.hardware = hardware
self.max_rotation = 5.0
self.max_translation = 5.0
@override
def _initialize(self) -> None:
"""
Prepare the movement module for use. This is called internally,
and should not be called directly by users.
This marks the module as initialized. It must be called
before issuing movement commands.
"""
self._initialized = True
[docs]
def rotate(self, amount: float) -> None:
"""
Rotate the robot around its yaw axis.
Parameters
----------
amount : float
Desired rotation amount. Automatically clamped to
[-max_rotation, max_rotation].
Notes
-----
- The rotation is relative to the robot’s current orientation.
"""
amount = max(-self.max_rotation, min(amount, self.max_rotation))
self.hardware._rotate(amount)
[docs]
def move(self, amount_x: float = 0.0, amount_y: float = 0.0) -> None:
"""
Move the robot forward/backward and laterally.
Parameters
----------
amount_x : float, optional
Forward/backward movement amount. Positive is forward.
Automatically clamped to [-max_translation, max_translation].
amount_y : float, optional
Lateral movement amount. Positive is right.
Automatically clamped to [-max_translation, max_translation].
Notes
-----
- Movements are relative to the robot’s current orientation.
"""
amount_x = max(-self.max_translation, min(amount_x, self.max_translation))
amount_y = max(-self.max_translation, min(amount_y, self.max_translation))
self.hardware._move(amount_x, amount_y)
[docs]
def stand_up(self) -> None:
"""
Command the robot to stand up.
Notes
-----
- It's best practice to wait a second after standing up before issuing movement commands.
"""
self.hardware._stand_up()
[docs]
def stand_down(self) -> None:
"""
Command the robot to lay down.
"""
self.hardware._stand_down()
[docs]
def stop(self) -> None:
"""
Stop all robot movement immediately.
Notes
-----
- Can be called at any time to halt translation and rotation. Can be used to clear internal command buffer.
"""
self.hardware._stop_move()
[docs]
def damp(self) -> None:
"""
Command the robot to damp.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._damp()
[docs]
def balance_stand(self) -> None:
"""
Command the robot to balance stand.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._balance_stand()
[docs]
def recovery_stand(self) -> None:
"""
Command the robot to recovery stand.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._recovery_stand()
[docs]
def euler(self, roll: float, pitch: float, yaw: float) -> None:
"""
Set the robot's Euler angles.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._euler(roll, pitch, yaw)
[docs]
def sit(self) -> None:
"""
Command the robot to sit.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._sit()
[docs]
def rise_sit(self) -> None:
"""
Command the robot to rise from sit.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._rise_sit()
[docs]
def speed_level(self, level: int) -> None:
"""
Set the robot's speed level.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._speed_level(level)
[docs]
def hello(self) -> None:
"""
Command the robot to perform hello.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._hello()
[docs]
def stretch(self) -> None:
"""
Command the robot to stretch.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._stretch()
[docs]
def content(self) -> None:
"""
Command the robot to perform content.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._content()
[docs]
def dance1(self) -> None:
"""
Command the robot to perform dance1.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._dance1()
[docs]
def dance2(self) -> None:
"""
Command the robot to perform dance2.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._dance2()
[docs]
def switch_joystick(self, on: bool) -> None:
"""
Switch joystick mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._switch_joystick(on)
[docs]
def pose(self, flag: bool) -> None:
"""
Set pose mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._pose(flag)
[docs]
def scrape(self) -> None:
"""
Command the robot to scrape.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._scrape()
[docs]
def front_flip(self) -> None:
"""
Command the robot to perform front flip.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._front_flip()
[docs]
def front_jump(self) -> None:
"""
Command the robot to perform front jump.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._front_jump()
[docs]
def front_pounce(self) -> None:
"""
Command the robot to perform front pounce.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._front_pounce()
[docs]
def heart(self) -> None:
"""
Command the robot to perform heart.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._heart()
[docs]
def left_flip(self) -> None:
"""
Command the robot to perform left flip.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._left_flip()
[docs]
def back_flip(self) -> None:
"""
Command the robot to perform back flip.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._back_flip()
[docs]
def free_walk(self) -> None:
"""
Command the robot to free walk.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._free_walk()
[docs]
def free_bound(self, flag: bool) -> None:
"""
Set free bound mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._free_bound(flag)
[docs]
def free_jump(self, flag: bool) -> None:
"""
Set free jump mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._free_jump(flag)
[docs]
def free_avoid(self, flag: bool) -> None:
"""
Set free avoid mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._free_avoid(flag)
[docs]
def walk_upright(self, flag: bool) -> None:
"""
Set walk upright mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._walk_upright(flag)
[docs]
def cross_step(self, flag: bool) -> None:
"""
Set cross step mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._cross_step(flag)
[docs]
def static_walk(self) -> None:
"""
Command the robot to static walk.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._static_walk()
[docs]
def trot_run(self) -> None:
"""
Command the robot to trot run.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._trot_run()
[docs]
def hand_stand(self, flag: bool) -> None:
"""
Set hand stand mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._hand_stand(flag)
[docs]
def classic_walk(self, flag: bool) -> None:
"""
Set classic walk mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._classic_walk(flag)
[docs]
def auto_recovery_set(self, enabled: bool) -> None:
"""
Set auto recovery mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._auto_recovery_set(enabled)
[docs]
def get_auto_recovery(self) -> Tuple[int, bool | None]:
"""
Get auto recovery status.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
return self.hardware._auto_recovery_get()
[docs]
def switch_avoid_mode(self) -> None:
"""
Switch avoid mode.
Important
---------
This command is not supported when :attr:`HardwareType.VIRTUAL <go2.hardware.hardware_type.HardwareType.VIRTUAL>` is selected and will raise NotImplementedError.
"""
self.hardware._switch_avoid_mode()
@override
def _shutdown(self) -> None:
"""
Shut down the movement module safely. This should not be called by users
Stops all movement and marks the module as uninitialized.
"""
self.stop()
self._initialized = False