rby1_sdk.TorsoCommandFeedback#

class TorsoCommandFeedback#

Bases: CommandFeedback

Feedback for a torso command container.

joint_position_command#

Feedback for a joint position command (if present).

Type:: JointPositionCommandFeedback

gravity_compensation_command#

Feedback for a gravity compensation command (if present).

Type:: GravityCompensationCommandFeedback

cartesian_command#

Feedback for a Cartesian command (if present).

Type:: CartesianCommandFeedback

impedance_control_command#

Feedback for a Cartesian impedance command (if present).

Type:: ImpedanceControlCommandFeedback

optimal_control_command#

Feedback for an optimal-control command (if present).

Type:: OptimalControlCommandFeedback

cartesian_impedance_control_command#

Feedback for a Cartesian impedance (OC + joint-space impedance) command (if present).

Type:: CartesianImpedanceControlCommandFeedback

joint_impedance_control_command#

Feedback for a joint-space impedance command (if present).

Type:: JointImpedanceControlCommandFeedback

joint_group_position_command#

Feedback for a joint-group position command (if present).

Type:: JointGroupPositionCommandFeedback

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

Methods

__init__(self)

Construct a TorsoCommandFeedback instance.

Attributes

`cartesian_command`	Cartesian command feedback.
`cartesian_impedance_control_command`	Cartesian impedance (OC + joint-space impedance) command feedback.
`command_header`	Header-level feedback.
`gravity_compensation_command`	Gravity compensation command feedback.
`impedance_control_command`	Cartesian impedance command feedback.
`joint_group_position_command`	Joint-group position command feedback.
`joint_impedance_control_command`	Joint-space impedance command feedback.
`joint_position_command`	Joint position command feedback.
`optimal_control_command`	Optimal-control command feedback.
`valid`	Whether this feedback object contains valid data.

property cartesian_command#

Cartesian command feedback.

Returns:: Feedback object.
Return type:: CartesianCommandFeedback

property cartesian_impedance_control_command#

Cartesian impedance (OC + joint-space impedance) command feedback.

Returns:: Feedback object.
Return type:: CartesianImpedanceControlCommandFeedback

property gravity_compensation_command#

Gravity compensation command feedback.

Returns:: Feedback object.
Return type:: GravityCompensationCommandFeedback

property impedance_control_command#

Cartesian impedance command feedback.

Returns:: Feedback object.
Return type:: ImpedanceControlCommandFeedback

property joint_group_position_command#

Joint-group position command feedback.

Returns:: Feedback object.
Return type:: JointGroupPositionCommandFeedback

property joint_impedance_control_command#

Joint-space impedance command feedback.

Returns:: Feedback object.
Return type:: JointImpedanceControlCommandFeedback

property joint_position_command#

Joint position command feedback.

Returns:: Feedback object.
Return type:: JointPositionCommandFeedback

property optimal_control_command#

Optimal-control command feedback.

Returns:: Feedback object.
Return type:: OptimalControlCommandFeedback