rby1_sdk.BodyCommandFeedback¶

class BodyCommandFeedback¶

Bases: CommandFeedback

Feedback for a body command container.

joint_position_command¶

Feedback for a joint position command (if present).

Type:: JointPositionCommandFeedback

optimal_control_command¶

Feedback for an optimal-control command (if present).

Type:: OptimalControlCommandFeedback

gravity_compensation_command¶

Feedback for a gravity compensation command (if present).

Type:: GravityCompensationCommandFeedback

cartesian_command¶

Feedback for a Cartesian command (if present).

Type:: CartesianCommandFeedback

body_component_based_command¶

Feedback for a component-based body command (if present).

Type:: BodyComponentBasedCommandFeedback

cartesian_impedance_control_command¶

Feedback for a Cartesian impedance (OC + joint-space impedance) command (if present).

Type:: CartesianImpedanceControlCommandFeedback

joint_impedance_control_command¶

Feedback for a joint-space impedance command (if present).

Type:: JointImpedanceControlCommandFeedback

__init__(self: rby1_sdk.BodyCommandFeedback) → None¶: Construct a BodyCommandFeedback instance.

Methods

__init__(self)

Construct a BodyCommandFeedback instance.

Attributes

`body_component_based_command`	Component-based body command feedback.
`cartesian_command`	Cartesian command feedback.
`cartesian_impedance_control_command`	Cartesian impedance (OC + joint-space impedance) command feedback.
`command_header`	Header-level feedback.
`gravity_compensation_command`	Gravity compensation command feedback.
`joint_impedance_control_command`	Joint-space impedance command feedback.
`joint_position_command`	Joint position command feedback.
`optimal_control_command`	Optimal-control command feedback.
`valid`	Whether this feedback object contains valid data.