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