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.

class AbsolutePosition#

Bases: pybind11_object

Absolute jog target.

Sets the joint to an absolute angle in radians.

Parameters:: value (float) – Target absolute joint angle [rad].

Examples

>>> rby.JogCommandBuilder.AbsolutePosition(1.57)  # ~90 degrees

value(self: rby1_sdk.JogCommandBuilder.AbsolutePosition) → float#: Get the target absolute angle in radians.

class OneStep#

Bases: pybind11_object

One-step jog target.

Applies a single incremental step to the joint angle in radians. Useful for discrete button/step interfaces.

Parameters:: value (float) – Step size [rad].

Examples

>>> rby.JogCommandBuilder.OneStep(-0.05)  # one step backward

value(self: rby1_sdk.JogCommandBuilder.OneStep) → bool#: Get the step size in radians.

class RelativePosition#

Bases: pybind11_object

Relative jog target.

Offsets the current joint angle by a relative amount in radians.

Parameters:: value (float) – Relative offset [rad]. Positive values increase the angle; negative values decrease it.

Examples

>>> rby.JogCommandBuilder.RelativePosition(0.1)  # +0.1 rad

value(self: rby1_sdk.JogCommandBuilder.RelativePosition) → float#: Get the relative offset in radians.

set_acceleration_limit(self: rby1_sdk.JogCommandBuilder, acceleration_limit: float) → rby1_sdk.JogCommandBuilder#

Set the maximum acceleration used during the jog.

Parameters:: acceleration_limit (float) – Maximum allowed joint acceleration [rad/s²].
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder

set_command(*args, **kwargs)#

Overloaded function.

set_command(self: rby1_sdk.JogCommandBuilder, absolute_position: rby1_sdk.JogCommandBuilder.AbsolutePosition) -> rby1_sdk.JogCommandBuilder

Set the jog as an absolute position target.

Parameters:: absolute_position (JogCommandBuilder.AbsolutePosition) – Absolute target angle [rad].
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder

set_command(self: rby1_sdk.JogCommandBuilder, relative_position: rby1_sdk.JogCommandBuilder.RelativePosition) -> rby1_sdk.JogCommandBuilder

Set the jog as a relative position target.

Parameters:: relative_position (JogCommandBuilder.RelativePosition) – Relative offset [rad] from the current joint angle.
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder

set_command(self: rby1_sdk.JogCommandBuilder, one_step: rby1_sdk.JogCommandBuilder.OneStep) -> rby1_sdk.JogCommandBuilder

Set the jog as a single incremental step.

Parameters:: one_step (JogCommandBuilder.OneStep) – Step size [rad] to apply once.
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder

set_command_header(self: rby1_sdk.JogCommandBuilder, command_header_builder: rby1_sdk.CommandHeaderBuilder) → rby1_sdk.JogCommandBuilder#

Attach a command header.

Parameters:: command_header_builder (CommandHeaderBuilder) – Command header configuration (e.g., control hold time).
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder

set_joint_name(self: rby1_sdk.JogCommandBuilder, joint_name: str) → rby1_sdk.JogCommandBuilder#

Specify the joint to jog.

Parameters:: joint_name (str) – Name of the single joint to control.
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder

set_velocity_limit(self: rby1_sdk.JogCommandBuilder, velocity_limit: float) → rby1_sdk.JogCommandBuilder#

Set the maximum velocity used during the jog.

Parameters:: velocity_limit (float) – Maximum allowed joint velocity [rad/s].
Returns:: Self reference for method chaining.
Return type:: JogCommandBuilder