rby1_sdk.JointGroupPositionCommandFeedback

class JointGroupPositionCommandFeedback

Bases: CommandFeedback

Feedback for a joint group position command.

joint_indices

Indices of the joints targeted by this group command (model order).

Type:

list[int]

time_based_progress

Progress estimate [0.0, 1.0] based on time.

Type:

float

position_based_progress

Progress estimate [0.0, 1.0] based on position error reduction.

Type:

float

__init__(self: rby1_sdk.JointGroupPositionCommandFeedback) → None

Construct a JointGroupPositionCommandFeedback instance.

Methods

__init__(self)

Construct a JointGroupPositionCommandFeedback instance.

Attributes

command_header	Header-level feedback.
joint_indices	Indices of the joints in the group command.
position_based_progress	Position-based progress estimate.
time_based_progress	Time-based progress estimate.
valid	Whether this feedback object contains valid data.

property joint_indices

Indices of the joints in the group command.

Returns:

Model-order joint indices.

Return type:

list[int]

property position_based_progress

Position-based progress estimate.

Returns:

Value in [0.0, 1.0].

Return type:

float

property time_based_progress

Time-based progress estimate.

Returns:

Value in [0.0, 1.0].

Return type:

float