superbot2 0.1.1

A modular robotics framework for controlling various robots

SuperBot

SuperBot is a modern, modular robotics framework designed for controlling dual-arm piper robots and other robotic systems. It provides a clean, intuitive API for robot control, sensor integration, and utility functions.

Features

• Modular architecture with separate modules for bots, sensors, and utilities
• Dual-arm piper robot control interface
• Sensor management system
• Utility functions for robotics operations
• Clean, well-documented API

Installation

pip install superbot

Quick Start

from superbot import RobotWrapper

# Initialize the robot wrapper with CAN interfaces
robot = RobotWrapper(can_interfaces=("can_left", "can_right"))

# Move to a specific pose
import numpy as np
target_pose = np.eye(4)  # 4x4 identity matrix as example
robot.move_to_pose(left_target=target_pose, right_target=target_pose)

# Close the grippers halfway
robot.set_gripper(0.5, 0.5)

# Get current robot state
state = robot.get_current_state()
print(state)

Architecture

SuperBot follows a modular design:

• bots: Contains robot-specific implementations (dual_piper, etc.)
• sensors: Sensor management and interfaces
• utils: Common utility functions for robotics operations
• transport: Zero-copy instant VLA data transportation lib powered by memap && zeromq, fastest solution to sending data to poliy server.

Zero Transport

zero transport uses zmq and mmap for zero-copy data sharing, unlike most VLA policy server using http sending msgpack or binary, we are currently support data types contains:

• array;
• string (scalars);

Contributing

Contributions are welcome! Please see the contributing guidelines for details.