rby1_sdk.Robot_UB_ControlInput¶

class Robot_UB_ControlInput¶

Bases: pybind11_object

Robot (model: Model_UB) control input.

Represents control input parameters for robot real-time control including mode, target, and gains.

mode¶

Control mode for each joint (boolean array).

Type:: numpy.ndarray

target¶

Target positions for each joint [rad].

Type:: numpy.ndarray

feedback_gain¶

Feedback gains for each joint.

Type:: numpy.ndarray

feedforward_torque¶

Feedforward torque for each joint [Nm].

Type:: numpy.ndarray

finish¶

Whether to finish the current control operation.

Type:: bool

__init__(self: rby1_sdk.Robot_UB_ControlInput) → None¶

Construct a ControlInput instance.

mode¶

Control mode for each joint (boolean array).

Type:: numpy.ndarray, shape (DOF,)

target¶

Target positions for each joint [rad].

Type:: numpy.ndarray, shape (DOF,)

feedback_gain¶

Feedback gains for each joint.

Type:: numpy.ndarray, shape (DOF,)

feedforward_torque¶

Feedforward torque for each joint [Nm].

Type:: numpy.ndarray, shape (DOF,)

finish¶

Whether to finish the current control operation.

Type:: bool

Methods

__init__(self)

Construct a ControlInput instance.

Attributes

`feedback_gain`
`feedforward_torque`
`finish`
`mode`
`target`