rby1_sdk.RobotState_A¶
- class RobotState_A¶
Bases:
pybind11_objectRobot state information.
Provides information about the overall state of the robot, including system statistics, battery state, power states, emergency stop button states, joint states, tool flange states, force/torque sensor data, and odometry.
- timestamp¶
Timestamp of the robot state (system clock).
- Type:
- system_stat¶
System statistics (CPU, memory, uptimes).
- Type:
SystemStat
- battery_state¶
Battery voltage/current/level.
- Type:
BatteryState
- tool_flange_right¶
Tool flange sensor and IO state for the right arm.
- Type:
ToolFlangeState
- tool_flange_left¶
Tool flange sensor and IO state for the left arm.
- Type:
ToolFlangeState
- ft_sensor_right¶
Force/torque readings on the right arm.
- Type:
FTSensorData
- ft_sensor_left¶
Force/torque readings on the left arm.
- Type:
FTSensorData
- is_ready¶
Whether each joint is ready.
- Type:
numpy.ndarray of bool, shape (DOF,)
- position¶
Joint positions [rad].
- Type:
numpy.ndarray, shape (DOF,)
- velocity¶
Joint velocities [rad/s].
- Type:
numpy.ndarray, shape (DOF,)
- current¶
Joint currents [A].
- Type:
numpy.ndarray, shape (DOF,)
- torque¶
Joint torques in Nm.
- Type:
numpy.ndarray, shape (DOF,)
- target_position¶
Target joint positions [rad].
- Type:
numpy.ndarray, shape (DOF,)
- target_velocity¶
Target joint velocities [rad/s].
- Type:
numpy.ndarray, shape (DOF,)
- target_feedback_gain¶
Target feedback gains per joint. Range is [0, 10].
- Type:
numpy.ndarray, shape (DOF,)
- target_feedforward_torque¶
Target feedforward torques per joint in Nm.
- Type:
numpy.ndarray, shape (DOF,)
- odometry¶
Base pose as a 2D homogeneous transform (SE(2)): rotation (R) and translation (t).
- Type:
numpy.ndarray, shape (3, 3)
- center_of_mass¶
Center of mass position in base frame in meters.
- Type:
numpy.ndarray, shape (3,)
- collisions¶
Detected collisions or nearest link pairs (links, closest points, signed distance).
- Type:
list of CollisionResult
- temperature¶
Joint temperatures in degrees Celsius.
- Type:
numpy.ndarray, shape (DOF,)
- gravity¶
Gravity compensation torques per joint in Nm.
- Type:
numpy.ndarray, shape (DOF,)
Notes
Unless noted otherwise, joint-wise vectors are NumPy arrays with shape
(DOF,), whereDOF = robot.model().robot_dof.odometryuses a 2D homogeneous transform (SE(2)).signed distanceis negative when penetrating.- __init__(self: rby1_sdk.RobotState_A) None¶
Construct a RobotState instance.
Methods
__init__(self)Construct a RobotState instance.
Attributes