am-sdk for Python

The Python side of the Artificial Motion host SDK. Same calls as the C library, same simulator.

pip install -e ".[dev]"            # from this folder
pip install -e ".[can]"            # CAN-FD through python-can
pip install -e ".[ecat]"           # EtherCAT through pysoem
pip install -e ".[mujoco]"         # MuJoCo coupling
pip install -e ".[batch]"          # numpy, for the batched actuator model
pip install -e ".[pinn]"           # numpy, for the optional PINN residual

import math
import am_sdk as am

s = am.am_init(am.AmSessionConfig(interface="sim:M"))
joint = am.am_open_joint(s, 0)
am.am_start(s)
am.am_set_mode(joint, am.AmMode.IMPEDANCE)
am.am_enable(joint, timeout_ms=1000)

for k in range(3000):
    q_ref = 0.5 * math.sin(2 * math.pi * 0.5 * k * 1e-3)
    am.am_set_impedance(joint, am.AmImpedance(q_ref_rad=q_ref, kp_Nm_per_rad=150.0, kd_Nm_s_per_rad=6.0))
    am.am_cycle(s)
    t = am.am_read_telemetry(joint)

am.am_deinit(s)

A negative C status becomes an AmError with the status in .status.

Interfaces:

Your own master: implement am_sdk.Transport (process-data exchange plus object read and write) and pass AmSessionConfig(backend=am_sdk.TransportBackend(your_transport)). am_sdk.SimWireTransport is the simulator behind that same interface, byte for byte.

Torque estimation and collision detection (simulated, pre-hardware): am_sdk.estimation, see docs/ESTIMATION.md and examples/05_torque_estimation_collision.py.

Examples are in examples/, tests in tests/ (python -m pytest). The tests include a cross-check against the C library when it is built (see the top-level README).

Python runs the cycle with the host clock. Use it for development, commissioning and identification. Run 1 kHz control on hardware from C.

Apache-2.0 for the code, the unit data and the specs (LICENSE, NOTICE). See the top-level README for the full picture.

Actuator model for any actuator (MuJoCo, Isaac Lab, your own simulator): am_sdk.actuator_model, documented in docs/ACTUATOR_MODEL.md.

The API reference is docs/API.md. The joints are not built yet: every unit value in this package is a simulated typical design value, not a measurement.