Joint Group Control

set_group_cmd()

Python

set_group_cmd(
    position_cmd: Dict[str, list[float]],
    velocity_cmd: Dict[str, list[float]] | None = None,
    torque_cmd: Dict[str, list[float]] | None = None
)

Sends position, velocity, and torque commands to one or more joint groups. position_cmd is required; the others are optional. Commands take effect immediately — interpolation is recommended to avoid sudden jumps.

Parameter	Type	Description
position_cmd	Dict[str, list[float]]	group name → target joint position list (rad)
velocity_cmd	Dict[str, list[float]] | None	group name → target joint velocity list (rad/s)
torque_cmd	Dict[str, list[float]] | None	group name → target joint torque list (Nm)

Valid group names (depends on robot model; refer to hardware.json):

left_leg, right_leg, waist, head, left_manipulator, right_manipulator, left_endeffector (or left_end_effector), right_endeffector (or right_end_effector)

Example: upper-body control with interpolation

Python

init_pose = client.get_group_state("left_manipulator", key="position")
target_pose = [0.0, 0.0, 0.0, -1.2, 0.0, 0.0, 0.0]
steps = 200

for i in range(steps):
    pose = [s + (t - s) * i / steps for s, t in zip(init_pose, target_pose)]
    client.set_group_cmd({"left_manipulator": pose})
    time.sleep(0.01)

---

get_group_state()

Python

get_group_state(group_name: str, key: str = 'position') -> list[float]

Reads the current state of a specified joint group.

Parameter	Type	Description
group_name	str	Joint group name
key	str	Data type to return — see table below

key value	Description
'position'	Joint positions (rad), default
'velocity'	Joint velocities (rad/s)
'effort'	Joint torques (Nm)

Example

Python

pos = client.get_group_state("left_leg", key="position")
vel = client.get_group_state("left_leg", key="velocity")

---

get_group_motion_state()

Python

get_group_motion_state(group_name: str) -> int

Reads the current motion state of a specified joint group.

Return value	Description
0	Idle
1	Moving
2	Stopping
3	Error

Example

Python

while client.get_group_motion_state("left_manipulator") == 1:
    time.sleep(0.01)
print("Motion complete")