SolarOS 4.17.7 manual · command

robot

Inspect joints in the optional external robot library.

Usage

Usage	Description
`robot joint list` or `robot joint status <joint>`	Inspect joints in the optional external robot library.
`robot model load <file.urdf>` or `robot model unload`	Load a validated URDF model without activating hardware, or release it.
`robot start` or `robot stop`	Start URDF-declared velocity controllers or release them while retaining the model. Stop before replacing or unloading it.
`robot model info\|links\|joints\|metadata`	Inspect the resident model and retained SolarOS extension.
`robot model devices` or `robot model frame <device-or-stream>`	List URDF device/frame bindings or resolve a device or registered stream to its frame.
`robot model set <joint> <position> [<joint> <position> ...]`	Supply model joint positions as one validated batch.
`robot model transform <target> <source>`	Query the transform mapping source-frame coordinates into target.
`robot model point\|vector <target> <source> <x> <y> <z>`	Transform a point or direction; see Robot models and transforms.
`robot joint create <joint> velocity\|servo`	Create an inactive joint without claiming hardware.
`robot joint configure <joint> <key> <value>`	Configure PPR, gearbox ratio, polarities, limits, timing or control gains.
`robot joint motor <joint> <motor> <encoder>`	Bind named devices to a velocity joint.
`robot joint servo <joint> <provider> <output> <min-us> <max-us> <min-rad> <max-rad> [freq-hz]`	Bind a calibrated input-shaft servo output.
`robot joint command <joint> <target>`	Refresh an joint target in radians/second or radians.
`robot joint enable\|disable\|close <joint>`	Activate, stop and release, or destroy an joint; see Robot joints.