Hi all, I’m Marco, I’m totally new to the platform.
I’d like to execute a task where iCub moves its elbow joint until he reaches a certain angle (or equivalently position). The problem is: even though I’m capable of sending messages to the elbow with the command
I don’t know how to read the current joint value.
Refering to iCub tutorial baseball solutions, I found a transfer function called joints_state_passthrough that I suppose to get the joints value:
from sensor_msgs.msg import JointState
@nrp.MapRobotSubscriber(“joints”, Topic("/robot/joints", JointState))
def joint_states_passthrough(t, joints):
How can I have access to a particular joint position value (e.g.: to print it on the log console)?
Thank you a lot,