Client SDK Introduction¶
Client SDK pakage provides direct software interfaces for developers to control the robot. It is designed to command the robot in three motion forms: whole body control, end effector and single motor. Thus, correspongding methods and attributes are divided into three classes:
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Human class
Human class involves the basic motions of a robot such as stand, walk and waving hands which are included in the Motion Library. These motions serve as the low-level motion units in constructing a sophesticated control task, helping reduce need for reprogramming of each behavior.
For details about Motion Library, please refer to Motion Library.
For python reference and its guide, please refer to Human class Reference and Human Reference Guide.
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EndEffector class
EndEffector class provides robot arm movements and rotations in Cartesian coordinate system for precise tasks, such as grabbing items. Quaternion is adopted for end effector rotations rather than Euler angles, but they can be converted to each other.
For python reference, please refer to EndEffector class Reference.
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Motor class
Motor class contains single motor control interfaces of upper body actuators, namely the control of the 12 actuators equipped on legs are not open accurrently. These SDK interfaces are used to test the movement of a specific motor or in a scenario where single motor movement is needed.
For python reference and its guide, please refer to Motor class Reference and Motor Reference Guide.
For each class, it contains its own functions about motion control and strict procedure needs following when applying the methods. For details about the workflow within each class, refer to section SDK Workflow.
Following topics are covered: