reachy_sdk.joint

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)

Parameters:

initial_state (JointState) –

registers()

Return a dict[name, value] of all the Joint registers.