This module define the Joint class (any dynamixel motor or one of orbita’s disk) and its registers.
- class reachy_sdk.joint.Joint(initial_state)¶
The Joint class represents (any dynamixel motor or one of orbita’s disk) and its registers.
- The Joint class is used to store the up-to-date state of the joint, especially the RO registers:
its name and uid (resp. str and int) which will never change
its current position (in degree)
the current speed and load are presently not updated as the value given by the motor is unreliable
its current temperature (in degree celsius)
Similarly, when setting a new value to one of its RW register. The Joint is responsible to inform the robot that some commands need to be sent. The RW registers are:
set the compliance on/off (boolean)
goal position (in degree)
speed limit (in degree per second)
the torque limit (in %)
its pid (refer to the different types of motor to have a better understanding of the gain expected range)
initial_state (JointState) –
Return a dict[name, value] of all the Joint registers.