rby1_sdk.RobotCommandFeedback

class RobotCommandFeedback

Bases: CommandFeedback

Top-level feedback for a robot command.

whole_body_command

Feedback for a whole-body command (if present).

Type:

WholeBodyCommandFeedback

component_based_command

Feedback for a component-based command (if present).

Type:

ComponentBasedCommandFeedback

jog_command

Feedback for a jog command (if present).

Type:

JogCommandFeedback

status

High-level status of the command execution.

Type:

RobotCommandFeedback.Status

finish_code

Finish code indicating why execution finished (if finished).

Type:

RobotCommandFeedback.FinishCode

__init__(self: rby1_sdk.RobotCommandFeedback) → None

Construct a RobotCommandFeedback instance.

Methods

__init__(self)

Construct a RobotCommandFeedback instance.

Attributes

command_header	Header-level feedback.
component_based_command	Component-based command feedback.
finish_code	Finish reason (if finished).
jog_command	Jog command feedback.
status	High-level execution status.
valid	Whether this feedback object contains valid data.
whole_body_command	Whole-body command feedback.

class FinishCode

Bases: pybind11_object

Reason for finishing (if any).

Members

Unknownint

Unknown reason.

Okint

Finished successfully.

Canceledint

Canceled by user/system.

Preemptedint

Preempted by another command.

InitializationFailedint

Failed during initialization.

ControlManagerIdleint

Control manager entered idle unexpectedly.

ControlManagerFaultint

Control manager reported a fault.

UnexpectedStateint

Reached an unexpected state.

Members:

Unknown

Ok

Canceled

Preempted

InitializationFailed

ControlManagerIdle

ControlManagerFault

UnexpectedState

Canceled = <FinishCode.Canceled: 2>

ControlManagerFault = <FinishCode.ControlManagerFault: 6>

ControlManagerIdle = <FinishCode.ControlManagerIdle: 5>

InitializationFailed = <FinishCode.InitializationFailed: 4>

Ok = <FinishCode.Ok: 1>

Preempted = <FinishCode.Preempted: 3>

UnexpectedState = <FinishCode.UnexpectedState: 7>

Unknown = <FinishCode.Unknown: 0>

property name

property value

class Status

Bases: pybind11_object

High-level execution status.

Members

Idleint

No command is active.

Initializingint

Command is initializing.

Runningint

Command is running.

Finishedint

Command has finished.

Members:

Idle

Initializing

Running

Finished

Finished = <Status.Finished: 3>

Idle = <Status.Idle: 0>

Initializing = <Status.Initializing: 1>

Running = <Status.Running: 2>

property name

property value

property component_based_command

Component-based command feedback.

Returns:

Feedback object (if present).

Return type:

ComponentBasedCommandFeedback

property finish_code

Finish reason (if finished).

Returns:

One of :pydata:`RobotCommandFeedback.FinishCode`.

Return type:

RobotCommandFeedback.FinishCode

property jog_command

Jog command feedback.

Returns:

Feedback object (if present).

Return type:

JogCommandFeedback

property status

High-level execution status.

Returns:

One of :pydata:`RobotCommandFeedback.Status`.

Return type:

RobotCommandFeedback.Status

property whole_body_command

Whole-body command feedback.

Returns:

Feedback object (if present).

Return type:

WholeBodyCommandFeedback