rby1_sdk.RobotState_UB#

class RobotState_UB#

Bases: pybind11_object

Robot 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:: datetime.datetime

system_stat#

System statistics (CPU, memory, uptimes).

Type:: SystemStat

battery_state#

Battery voltage/current/level.

Type:: BatteryState

power_states#

Power supply states for each module.

Type:: list of PowerState

emo_states#

Emergency-stop button states for each module.

Type:: list of EMOState

joint_states#

Per-joint status and measurements.

Type:: list of JointState

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,), where DOF = robot.model().robot_dof. odometry uses a 2D homogeneous transform (SE(2)). signed distance is negative when penetrating.

__init__(self: rby1_sdk.RobotState_UB) → None#: Construct a RobotState instance.

Methods

__init__(self)

Construct a RobotState instance.

Attributes

`battery_state`
`center_of_mass`
`collisions`
`current`
`emo_states`
`ft_sensor_left`
`ft_sensor_right`
`gravity`
`is_ready`
`joint_states`
`odometry`
`position`
`power_states`
`system_stat`
`target_feedback_gain`
`target_feedforward_torque`
`target_position`
`target_velocity`
`temperature`
`timestamp`
`tool_flange_left`
`tool_flange_right`
`torque`
`velocity`

property battery_state#

property center_of_mass#

property collisions#

property current#

property emo_states#

property ft_sensor_left#

property ft_sensor_right#

property gravity#

property is_ready#

property joint_states#

property odometry#

property position#

property power_states#

property system_stat#

property target_feedback_gain#

property target_feedforward_torque#

property target_position#

property target_velocity#

property temperature#

property timestamp#

property tool_flange_left#

property tool_flange_right#

property torque#

property velocity#