franky.BaseCartesianVelocityMotion

class franky.BaseCartesianVelocityMotion

Bases: pybind11_object

Base class for motions.

Template Args:

ControlSignalType: Control signal type of the motion. Either franka::Torques,

franka::JointVelocities, franka::CartesianVelocities, franka::JointPositions or franka::CartesianPose.

__init__(*args, **kwargs)

add_reaction(self: franky._franky.BaseCartesianVelocityMotion, reaction: franky._franky.CartesianVelocityReaction) → None

Add a reaction to the motion.

Reactions are evaluated in every step of the motion and can replace the current motion with a new motion.

Parameters:

reaction – The reaction to add.

Warning

Do not call this function synchronously from a condition, motion function, or reaction callback while this motion’s reactions are being evaluated. Reaction evaluation holds the reaction-list mutex, so doing so would deadlock.

register_callback(self: franky._franky.BaseCartesianVelocityMotion, callback: collections.abc.Callable[[franky._franky.RobotState, franky._franky.Duration, franky._franky.Duration, franky._franky.Duration, franky._franky.CartesianVelocities], None]) → None

Register a callback that is called in every step of the motion.

Parameters:

callback – The callback to register. Callbacks are called with the robot state, the time step [s], the relative time [s], the absolute time [s] and the control signal computed in this step.

property reactions

Currently registered reactions of the motion.