set_joints

Signature:

BoosterRobot.set_joints(joint_commands: list[JointCommand]) -> None

Description:

Send batch joint control commands.

Parameters:

Parameter	Type	Default	Description
joint_commands	list[JointCommand]	Required	List of joint control commands; joints are matched by name.

JointCommand represents the control target and control parameters for a single joint, containing at minimum the joint name name and target position position; for position control it is recommended to explicitly set kp and kd. See "Joint-Related Data / JointCommand" for complete fields.

Returns:

None

Raises:

ValueError: The set of joint names does not equal all joints, nor does it equal the first 10 upper body joints.

RuntimeError: Joint control command failed to send.

Example:

import time
from boosteros.robots.booster import BoosterRobot
from boosteros.types import JointCommand

robot = BoosterRobot()

# K1 full-body joint example gains; T1 will insert a set of gains at the waist position.
kp_values = [
    40.0, 40.0,                    # neck
    20.0, 30.0, 10.0, 10.0,        # left arm
    20.0, 30.0, 10.0, 10.0,        # right arm
    250.0, 250.0, 150.0, 250.0, 120.0, 120.0,  # left leg
    250.0, 250.0, 150.0, 250.0, 120.0, 120.0,  # right leg
]
kd_values = [
    2.0, 2.0,                      # neck
    1.5, 2.0, 0.5, 0.5,            # left arm
    1.5, 2.0, 0.5, 0.5,            # right arm
    15.0, 15.0, 8.0, 12.0, 8.0, 8.0,  # left leg
    15.0, 15.0, 8.0, 12.0, 8.0, 8.0,  # right leg
]

try:
    # First enter prepare and wait for posture to stabilize, then take over custom control using current posture.
    robot.set_mode("prepare")
    time.sleep(2.0)

    joint_names = [joint.name for joint in robot.list_joints()]
    if len(joint_names) == 23:  # T1 waist joint
        kp_values.insert(10, 100.0)
        kd_values.insert(10, 8.0)
    if len(joint_names) != len(kp_values):
        raise RuntimeError(f"Unsupported joint count: {len(joint_names)}")

    states = robot.get_joint_states()
    state_map = {state.name: state.position for state in states.joints}

    commands = []
    for i, name in enumerate(joint_names):
        position = state_map.get(name)
        if position is None:
            raise RuntimeError(f"Joint state is not ready: {name}")
        commands.append(
            JointCommand(
                name=name,
                position=position,
                kp=kp_values[i],
                kd=kd_values[i],
            )
        )

    robot.set_mode("custom")
    robot.set_joints(commands)
    time.sleep(2.0)
finally:
    robot.set_mode("prepare")