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Add bindings for scout omni #59

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Add bindings for scout omni #59

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9 changes: 9 additions & 0 deletions python/ugv_sdk_py/src/scout_robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_<ScoutMiniOmniRobot, ScoutRobot>(m_scout_robot, "ScoutMiniOmniRobot")
.def(py::init<ProtocolVersion>(),
py::arg("protocol") = ProtocolVersion::AGX_V2,
"Constructor for ScoutMiniOmniRobot with optional protocol")
.def("set_omni_motion_command", &ScoutOmniInterface::SetMotionCommand,
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Hi Micheal, can you please update the name to set_motion_command to be consistent with the C++ interface.
Also, we dont have a omni variant on hand to test. So far it looks ok based on candump output, but if you have one, can you please verify it works.

py::arg("linear_vel"), py::arg("angular_vel"), py::arg("lateral_velocity"),
"Set the motion command for the robot");
}
// clang-format on
} // namespace westonrobot