feathersdk.robot.torso_platform Module

class feathersdk.robot.torso_platform.EZMotionCommands(*values)

Bases: Enum

EZMotion CANopen command addresses.

GET_CURRENT_CURRENT = 24696

GET_CURRENT_POSITION = 24676

GET_CURRENT_TORQUE = 24695

GET_CURRENT_VELOCITY = 24684

GET_ERROR_REGISTER = 8203

GET_STATUS_WORD = 24641

GET_TEMPERATURE = 8256

HOMING_ACCELERATION = 24730

HOMING_METHOD = 24728

HOMING_OFFSET = 24700

HOMING_SPEED = 24729

MAX_TORQUE = 24690

SET_CONTROL_MODE = 24672

SET_MAX_ACCELERATION = 24707

SET_MAX_DECELERATION = 24708

SET_MAX_HOMING_TORQUE = 8304

SET_MAX_VELOCITY = 24705

SET_OPERATION_STATE = 24640

SET_POSITION = 24698

SET_VELOCITY = 24831

class feathersdk.robot.torso_platform.EZMotionControlMode(*values)

Bases: Enum

EZMotion motor control modes.

HOMING = 6

POSITION = 1

VELOCITY = 3

class feathersdk.robot.torso_platform.EZMotionHomingMethod(*values)

Bases: Enum

EZMotion homing methods.

HOME_USING_MAX_TORQUE_DOWN = -2

HOME_USING_MAX_TORQUE_UP = -3

class feathersdk.robot.torso_platform.EZMotionMotor(motor_id: int, can_interface: str, motor_name: str, config: dict)

Bases: Motor

EZMotion motor representation.

__init__(motor_id: int, can_interface: str, motor_name: str, config: dict)

Initialize EZMotion motor.

Parameters:

• motor_id (int) – CAN node ID of the motor

• can_interface (str) – CAN interface name

• motor_name (str) – Name identifier for the motor

• config (dict) – Motor configuration with optional keys: - default_target_velocity_rps: Default target velocity in rotations per second - default_target_acceleration_rps2: Default acceleration in rotations per second squared - default_target_deceleration_rps2: Default deceleration in rotations per second squared

class feathersdk.robot.torso_platform.EZMotionOperationState(*values)

Bases: Enum

EZMotion motor operation states.

ENABLED = 15

SHUTDOWN = 6

TRANSITION_TO_NEW_POSITION = 31

class feathersdk.robot.torso_platform.EZMotionTorsoPlatform(motors_manager: MotorsManager, power: BatterySystem, can_interface: str | None, config: dict)

Bases: TorsoPlatform

EZMotion-based torso platform implementation.

__init__(motors_manager: MotorsManager, power: BatterySystem, can_interface: str | None, config: dict)

Initialize EZMotion torso platform.

Parameters:

• motors_manager (MotorsManager) – Manager for motor communication

• power (BatterySystem) – Battery system for power event handling

• can_interface (Optional[str]) – CAN interface name, or None to skip CAN initialization

• config (dict) – Configuration dictionary with required “motors” key and optional keys: - top_height_mm: Maximum height in millimeters (default: 600) - bottom_height_mm: Minimum height in millimeters (default: 50) - homing_offset_from_top_num_rotations: Homing offset from top in rotations (default: 1) - homing_max_torque_percent: Maximum torque for homing in percent (default: 1000) - homing_acceleration: Homing acceleration in rotations per second squared (default: 50) - print_packet_loss: If True, print packet loss warnings (default: False) - show_all_sdo_errors: If True, show all SDO errors (default: True)

Raises:

Exception – If power cycle detected and system must be recalibrated

calc_max_height_target_position(associated_height: float, associated_position: int)

Calculate maximum height target position.

Parameters:

• associated_height (float) – Reference height in millimeters

• associated_position (int) – Reference position in motor steps

Returns:

Maximum height target position in motor steps

Return type:

int

calc_min_height_target_position(associated_height: float, associated_position: int)

Calculate minimum height target position.

Parameters:

• associated_height (float) – Reference height in millimeters

• associated_position (int) – Reference position in motor steps

Returns:

Minimum height target position in motor steps

Return type:

int

canopen_thread_main(node: RemoteNode)

clear_errors()

Clear motor errors.

enable()

Enable motor operation.

enable_velocity_mode()

Enable velocity control mode and set velocity to zero.

get_current_position()

Get current motor position.

Returns:

Current position in motor steps, or False if read failed

Return type:

int | bool

get_current_position_with_retry()

Get current position with retry logic.

Returns:

Current position in motor steps

Return type:

int

Raises:

Exception – If position cannot be read after retries

get_current_torque()

Get current motor torque.

Returns:

Current torque value, or False if read failed

Return type:

int | bool

get_current_velocity()

Get current motor velocity.

Returns:

Current velocity in steps per second, or False if read failed

Return type:

int | bool

get_state()

Get current motor state.

Returns:

Dictionary with keys: temperature, velocity, torque, position, height

Return type:

dict

get_status_word()

Get motor status word.

Returns:

Status word value, or False if read failed

Return type:

int | bool

go_to(height_from_bottom: float)

Move to target height from bottom.

Parameters:

height_from_bottom (float) – Target height in millimeters from bottom

Raises:

Exception – If system not healthy or height is outside valid range

has_error()

Check if motor has error.

health_check()

Perform health check on motor.

Returns:

Dictionary with keys: temperature, current, position

Return type:

dict

init_ezmotion()

Initialize EZMotion motor to position control mode.

on_abort()

on_fork()

on_power_event(event: PowerEvent)

Handle power system events.

Parameters:

event (PowerEvent) – The power event type (POWER_OFF or POWER_RESTORED)

recalibrate()

Recalibrate torso by homing to top position.

send_movement_profile(target_velocity=None, target_acceleration=None, target_deceleration=None)

Send movement profile parameters to motor (only if changed).

Parameters:

• target_velocity (float, optional) – Target velocity in rotations per second

• target_acceleration (float, optional) – Target acceleration in rotations per second squared

• target_deceleration (float, optional) – Target deceleration in rotations per second squared

set_control_mode(control_mode: EZMotionControlMode)

Set motor control mode.

Parameters:

control_mode (EZMotionControlMode) – Control mode to set

set_movement_profile(target_velocity, target_acceleration, target_deceleration)

Set movement profile parameters for the motor.

Parameters:

• target_velocity (float, optional) – Target velocity in rotations per second

• target_acceleration (float, optional) – Target acceleration in rotations per second squared

• target_deceleration (float, optional) – Target deceleration in rotations per second squared

shutdown()

Shutdown motor and stop movement.

transition_to_new_position()

Transition motor to new position state.

update_relative(delta_mm: float, velocity: float | None = None)

Update position by delta_mm relative to current position. Will clamp final position to be within valid range.

Parameters:

• delta_mm (float) – Delta height in millimeters from current position

• velocity (float) – Velocity in millimeters per second [0, 200] mm/s, or None to use motor default

update_velocity(mm_per_second: float, skip_overwrite: bool = False)

Update torso velocity in velocity control mode.

Parameters:

• mm_per_second (float) – Velocity in millimeters per second, range -200 to 200

• skip_overwrite (bool) – If True, skip overwriting calibration file

Raises:

Exception – If system not healthy or velocity exceeds maximum

wait_for_recalibration()

Wait for recalibration to complete.

class feathersdk.robot.torso_platform.TorsoPlatform

Bases: SteppableSystem

Base class for torso platform control.

__init__()

Initialize torso platform.

async get_position()

async get_state()

go_to(height_from_bottom: float)

async health_check()

recalibrate()

set_movement_profile(target_velocity, target_acceleration, target_jerk)

feathersdk.robot.torso_platform.overwrite_file(filepath: str, data: list)

Overwrite file with comma-separated data.

Parameters:

• filepath (str) – Path to the file to overwrite

• data (list) – List of strings to write as comma-separated values

feathersdk.robot.torso_platform.read_array_from_file(filepath: str)

Read comma-separated values from file.

Parameters:

filepath (str) – Path to the file to read

Returns:

List of strings read from the file

Return type:

list