rby1_sdk.JointGroupPositionCommandBuilder¶

class JointGroupPositionCommandBuilder¶

Bases: pybind11_object

Joint group position command builder.

Builds joint position commands for a named subset (group) of joints.

Notes

Vector length rule: For vector arguments (e.g., position, velocity_limit, acceleration_limit), N equals the number of joint names set by set_joint_names(...).

Examples

Command 3 torso joints by name:

>>> import numpy as np, rby1_sdk as rby
>>> torso = (
...   rby.JointGroupPositionCommandBuilder()
...   .set_joint_names(["torso_3","torso_4","torso_5"])
...   .set_position(np.zeros(3))        # N=3
...   .set_minimum_time(2.0)
... )

__init__(self: rby1_sdk.JointGroupPositionCommandBuilder) → None¶

Methods

`__init__`(self)
`set_acceleration_limit`(self, acceleration_limit)	Set per-joint acceleration limits for the group.
`set_command_header`(self, command_header_builder)
`set_joint_names`(self, joint_names)	Set the joint names that this group command applies to.
`set_minimum_time`(self, minimum_time)	Set the minimum execution time for the motion.
`set_position`(self, position)	Set group joint target positions in radians.
`set_velocity_limit`(self, velocity_limit)	Set per-joint velocity limits for the group.