Robot Actions
=============

Robot actions refer to the desired (commanded) information that the robot is acting upon at a snapshot in time. The data structure containing all robot actions is defined by ``flexiv::rdk::RobotActions`` in header file ``flexiv/rdk/data.hpp``.

.. note::
  Despite the control mode the robot is currently in, robot actions are always updated and published to the user in real time at 1kHz. However, the user can control how frequently they access the data by simply controlling the rate at which ``Robot::actions()`` function (which returns a map of ``RobotActions`` keyed by ``JointGroup`` in C++, or a dictionary in Python) is called.

Robot actions include:

* Desired joint-space actions: desired joint positions, velocities, torques.
* Desired Cartesian-space actions: desired TCP pose, velocity, and external wrench.

Please refer to ``flexiv::rdk::RobotActions`` for detailed documentation on each action.