rby1_sdk.ImpedanceControlCommandFeedback

class ImpedanceControlCommandFeedback

Bases: CommandFeedback

Feedback for a Cartesian impedance control (single-link) command.

tracking_error

Current tracking error (translation/rotation).

Type:

ImpedanceControlCommandFeedback.TrackingError

__init__(self: rby1_sdk.ImpedanceControlCommandFeedback) → None

Construct an ImpedanceControlCommandFeedback instance.

Methods

__init__(self)

Construct an ImpedanceControlCommandFeedback instance.

Attributes

command_header	Header-level feedback.
tracking_error	Current tracking error.
valid	Whether this feedback object contains valid data.

class TrackingError

Bases: pybind11_object

Tracking error for Cartesian impedance.

position_error

Translational error magnitude [m].

Type:

float

rotation_error

Rotational error magnitude [rad] (e.g., angle-axis norm).

Type:

float

property position_error

property rotation_error

property tracking_error

Current tracking error.

Returns:

Translational and rotational error magnitudes.

Return type:

ImpedanceControlCommandFeedback.TrackingError