From 99585846204f1e8b92280a21394d85bb67d36c1c Mon Sep 17 00:00:00 2001 From: robot-dev Date: Wed, 21 Aug 2024 17:55:29 -0700 Subject: [PATCH] Add bindings for scout omni --- python/ugv_sdk_py/src/scout_robot.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/python/ugv_sdk_py/src/scout_robot.cpp b/python/ugv_sdk_py/src/scout_robot.cpp index 973f4034..c0280ec0 100644 --- a/python/ugv_sdk_py/src/scout_robot.cpp +++ b/python/ugv_sdk_py/src/scout_robot.cpp @@ -136,6 +136,15 @@ void BindScoutRobot(pybind11::module &m) { .def("get_robot_state", &ScoutRobot::GetRobotState, "Get the robot state") .def("get_actuator_state", &ScoutRobot::GetActuatorState, "Get the actuator state") .def("get_common_sensor_state", &ScoutRobot::GetCommonSensorState, "Get the common sensor state"); + + // ScoutMiniOmniRobot class + py::class_(m_scout_robot, "ScoutMiniOmniRobot") + .def(py::init(), + py::arg("protocol") = ProtocolVersion::AGX_V2, + "Constructor for ScoutMiniOmniRobot with optional protocol") + .def("set_omni_motion_command", &ScoutOmniInterface::SetMotionCommand, + py::arg("linear_vel"), py::arg("angular_vel"), py::arg("lateral_velocity"), + "Set the motion command for the robot"); } // clang-format on } // namespace westonrobot