rby1_sdk.JogCommandBuilder

class JogCommandBuilder

Bases: pybind11_object

Jog command builder.

Builds a jog command for a single joint. A jog command applies an incremental position change using one of three types: AbsolutePosition, RelativePosition, or OneStep.

Notes

• Jog is an incremental position command, not a velocity command.

• To repeat or accumulate jogs on the same joint, send additional jog commands or use a stream command.

Examples

>>> import rby1_sdk as rby
>>> jog = (
...     rby.JogCommandBuilder()
...     .set_joint_name("right_arm_0")
...     .set_command(rby.JogCommandBuilder.RelativePosition(0.1))
... )
>>> cmd = rby.RobotCommandBuilder().set_command(jog)
>>> robot.send_command(cmd, priority=1)

__init__(self: rby1_sdk.JogCommandBuilder) → None

Methods

__init__(self)
set_acceleration_limit(self, acceleration_limit)	Set the maximum acceleration used during the jog.
set_command(*args, **kwargs)	Overloaded function.
set_command_header(self, command_header_builder)	Attach a command header.
set_joint_name(self, joint_name)	Specify the joint to jog.
set_velocity_limit(self, velocity_limit)	Set the maximum velocity used during the jog.