rby1_sdk.CartesianImpedanceControlCommandFeedback

class CartesianImpedanceControlCommandFeedback

Bases: CommandFeedback

Feedback for a Cartesian-impedance control command.

set_position

Current joint setpoint used by the internal joint-space controller [rad].

Type:

numpy.ndarray, shape (N,), dtype=float64

remain_time

Estimated remaining time to settle [s].

Type:

float

manipulability

Manipulability index (dimensionless).

Type:

float

__init__(self: rby1_sdk.CartesianImpedanceControlCommandFeedback) → None

Construct a CartesianImpedanceControlCommandFeedback instance.

Methods

__init__(self)

Construct a CartesianImpedanceControlCommandFeedback instance.

Attributes

command_header	Header-level feedback.
manipulability	Manipulability index.
remain_time	Estimated remaining time to settle.
set_position	Current joint setpoint used by the internal joint-space controller.
valid	Whether this feedback object contains valid data.

property manipulability

Manipulability index.

Returns:

Dimensionless manipulability measure.

Return type:

float

property remain_time

Estimated remaining time to settle.

Returns:

Time remaining [s].

Return type:

float

property set_position

Current joint setpoint used by the internal joint-space controller.

Returns:

Joint setpoint vector [rad], shape (N,).

Return type:

numpy.ndarray