rby1_sdk.Robot_M_ControlState#
- class Robot_M_ControlState#
Bases:
pybind11_objectRobot (model:
Model_M) control state.Represents the current state of robot real-time control including position, velocity, and torque.
- is_ready#
Whether the joint is ready for control.
- Type:
- position#
Current joint positions [rad].
- Type:
numpy.ndarray, shape (DOF,)
- velocity#
Current joint velocities [rad/s].
- Type:
numpy.ndarray, shape (DOF,)
- current#
Current joint currents [A].
- Type:
numpy.ndarray, shape (DOF,)
- torque#
Current joint torques [Nm].
- Type:
numpy.ndarray, shape (DOF,)
- __init__(*args, **kwargs)#
Methods
__init__(*args, **kwargs)Attributes
- property current#
- property is_ready#
- property position#
- property t#
- property torque#
- property velocity#