rby1_sdk.JointImpedanceControlCommandFeedback#

class JointImpedanceControlCommandFeedback#

Bases: CommandFeedback

Feedback for a joint-space impedance control command.

set_position#

Current joint setpoints [rad].

Type:

list[float]

error#

Joint-space errors (q_d - q) [rad].

Type:

list[float]

__init__(self: rby1_sdk.JointImpedanceControlCommandFeedback) → None#

Construct a JointImpedanceControlCommandFeedback instance.

Methods

__init__(self)

Construct a JointImpedanceControlCommandFeedback instance.

Attributes

command_header

Header-level feedback.

error

Joint-space errors.

set_position

Current joint setpoints.

valid

Whether this feedback object contains valid data.
property error#

Joint-space errors.

Returns:

Per-joint position errors [rad].

Return type:

list[float]

property set_position#

Current joint setpoints.

Returns:

Joint setpoints [rad].

Return type:

list[float]