JointState

Represents the state of a single joint. Also used as the per-frame joint values in recorded and replayed trajectories.

Attributes:

Attribute	Type	Description
name	str	Joint name; must match the names returned by robot.list_joints()
position	float | None	Position in rad
velocity	float | None	Velocity in rad/s
effort	float | None	Torque in Nm
extra	dict[str, Any] | None	Manufacturer-specific passthrough or additional extension data dictionary

JointState

Signature:

JointState(
    *,
    name: str,
    position: float | None = None,
    velocity: float | None = None,
    effort: float | None = None,
    extra: dict[str, Any] | None = None,
)

Description:

Construct a JointState instance. All parameters are keyword-only.

Parameters:

Parameter	Type	Required	Description
name	str	Yes	Joint name
position	float | None	No	Position
velocity	float | None	No	Velocity
effort	float | None	No	Torque
extra	dict[str, Any] | None	No	Extended information dictionary

Returns:

JointState instance.

Raises:

None.