rby1_sdk.OptimalControlCommandFeedback

class OptimalControlCommandFeedback

Bases: CommandFeedback

Feedback for an optimal-control command.

total_cost

Total objective value (dimensionless).

Type:

float

cartesian_costs

Per-Cartesian-target costs (dimensionless).

Type:

list[float]

center_of_mass_cost

Center-of-mass cost (dimensionless).

Type:

float

joint_position_costs

Per-joint position costs (dimensionless).

Type:

list[float]

__init__(self: rby1_sdk.OptimalControlCommandFeedback) → None

Construct an OptimalControlCommandFeedback instance.

Methods

__init__(self)

Construct an OptimalControlCommandFeedback instance.

Attributes

cartesian_costs	Per-target Cartesian costs.
center_of_mass_cost	Center-of-mass cost.
command_header	Header-level feedback.
joint_position_costs	Per-joint position costs.
total_cost	Total objective value.
valid	Whether this feedback object contains valid data.

property cartesian_costs

Per-target Cartesian costs.

Returns:

Dimensionless cost values for each Cartesian target.

Return type:

list[float]

property center_of_mass_cost

Center-of-mass cost.

Returns:

Dimensionless COM cost.

Return type:

float

property joint_position_costs

Per-joint position costs.

Returns:

Dimensionless cost values for joint position terms.

Return type:

list[float]

property total_cost

Total objective value.

Returns:

Dimensionless cost value.

Return type:

float