GRID Docs | General Robotics

from grid_sim_client.isaac import JointAngleClient

A Zenoh client for handling joint state messages. This class inherits from ZenohClient and provides functionality for publishing and receiving joint state messages over Zenoh topics using sensor_msgs/JointState.

Fields

list

Names of the joints

numpy.ndarray

Current joint positions (angles)

numpy.ndarray

Current joint velocities

numpy.ndarray

Current joint efforts/torques

Constructor

Signature

JointAngleClient(
    *,
    client_dict: dict,
    agent_dict: Optional[dict] = None,
    shared_session: Any = None,
)

Initialize the joint angle client.

dict

required

Configuration dictionary for the client

dict, optional

Dictionary of agent parameters. Defaults to None.

Optional shared Zenoh session. Defaults to None.

Methods

`getLatestMessage()`

Signature

getLatestMessage() -> Any

Return the most recent message from the subscription queue. Blocks for up to one second waiting for a message. Returns: The raw payload bytes of the latest message, or None if no message was received within the timeout.

`get_joint_efforts()`

Signature

get_joint_efforts() -> Optional[np.ndarray]

Get the current joint efforts. Returns: numpy.ndarray: Current joint efforts/torques

`get_joint_names()`

Signature

get_joint_names() -> List[str]

Get the current joint names. Returns: list: Current joint names

`get_joint_positions()`

Signature

get_joint_positions() -> Optional[np.ndarray]

Get the current joint positions. Returns: numpy.ndarray: Current joint positions/angles

`get_joint_state()`

Signature

get_joint_state() -> Optional[tuple]

Get the latest joint state message. Returns: tuple: (joint_names, joint_positions, joint_velocities, joint_efforts) or None

`get_joint_velocities()`

Signature

get_joint_velocities() -> Optional[np.ndarray]

Get the current joint velocities. Returns: numpy.ndarray: Current joint velocities

`msg_cb()`

Signature

msg_cb(sample: Any) -> None

Handle an incoming Zenoh sample by storing its payload in the queue.

required

The Zenoh sample received from the subscription.

`process_latest_msg()`

Signature

process_latest_msg() -> None

Process the latest received joint state message. Gets the latest message and updates the stored joint states. If an agent is connected, calls setJointAngles with the new positions. Returns: None

`publish()`

Signature

publish(data: bytes) -> None

Publish data to the topic.

required

Raw bytes to publish on the configured topic.

`publish_agent_joint_state()`

Signature

publish_agent_joint_state() -> None

Publish the current joint state of the connected agent.

`publish_joint_state()`

Signature

publish_joint_state(
    joint_names: List[str],
    joint_positions: List[float],
    joint_velocities: Optional[List[float]] = None,
    joint_efforts: Optional[List[float]] = None,
) -> None

Publish a joint state message.

list

required

Names of the joints

array-like

required

Joint positions/angles

array-like, optional

Joint velocities. Defaults to None.

array-like, optional

Joint efforts/torques. Defaults to None.

`run()`

Signature

run() -> None

Start the client by declaring a subscriber or publisher on the session.

`stop()`

Signature

stop() -> None

Undeclare the subscriber and close the owned Zenoh session if any.

​Fields

​Constructor

​Methods

​getLatestMessage()

​get_joint_efforts()

​get_joint_names()

​get_joint_positions()

​get_joint_state()

​get_joint_velocities()

​msg_cb()

​process_latest_msg()

​publish()

​publish_agent_joint_state()

​publish_joint_state()

​run()

​stop()

Fields

Constructor

Methods

`getLatestMessage()`

`get_joint_efforts()`

`get_joint_names()`

`get_joint_positions()`

`get_joint_state()`

`get_joint_velocities()`

`msg_cb()`

`process_latest_msg()`

`publish()`

`publish_agent_joint_state()`

`publish_joint_state()`

`run()`

`stop()`