franky.JointState

class franky.JointState

Bases: pybind11_object

Joint state of a robot.

This class encapsulates the joint state of a robot, which comprises the joint positions and the joint velocities.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: franky._franky.JointState, position: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”]) -> None

Construct a joint state with the given joint positions and zero velocities.

Parameters:

position – The joint positions.

  1. __init__(self: franky._franky.JointState, position: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”], velocity: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[7, 1]”]) -> None

Parameters:

  • position – The joint positions.

  • velocity – The joint velocities.

  1. __init__(self: franky._franky.JointState, arg0: franky._franky.JointState) -> None

property position

The position component of the state.

property velocity

The velocity component of the state.