Joint control for robot arms and any articulated twin. Joint names come from
twin.joints.list(); read and write by name (not numeric index). Positions are radians by
default — pass degrees=True for degrees.
For locomotion, runtime modes, and the command catalog, see
Twin Control. Read and write joints
import math
robot = cw.twin("the-robot-studio/so101")
# List controllable joint names
joint_names = robot.joints.list()
# Set one joint (radians by default)
robot.joints.set("shoulder_joint", math.pi / 4)
# Or use degrees
robot.joints.set("elbow_joint", 45, degrees=True)
# Set many at once
robot.joints.set({"shoulder_joint": math.pi / 4, "elbow_joint": 0.5})
robot.set_joints({joint_names[0]: -0.2})
# All joints by default (radians)
all_joints = robot.get_joints()
# Subset + multiple state kinds
subset = robot.joints.get(what_joints=["shoulder_joint"], what_data=["position"])
states = robot.joints.get(what_data=["position", "velocity", "effort"])
Print a joint-state table
print_joint_states() fetches the latest states from the server and prints a formatted table
(radians and degrees):
robot.joints.print_joint_states()
Joint states for twin <twin-uuid>:
------------------------------------------------------
Joint Radians Degrees
------------------------------------------------------
elbow_joint 0.0000 rad 0.00 °
shoulder_joint 0.7854 rad 45.00 °
------------------------------------------------------
Saved movements and poses
Replay saved poses and movements on a twin without tracking which scope owns them. run_movement
sends the movement action contract, move_to_pose snaps the twin to a saved pose, and
list_movements enumerates everything available.
robot = cw.twin("the-robot-studio/so101")
robot.list_movements() # twin, asset, and environment scopes
robot.run_movement("Wave") # plays whichever scope owns "Wave"
robot.move_to_pose("Stand") # snaps to the saved pose by name
run_movement, move_to_pose, and list_movements default to scope="auto", so the backend
resolves the name across the twin/asset/environment scopes. Pass scope="twin", scope="asset",
or scope="environment" to pin the lookup.
