franky.CartesianMotion

class franky.CartesianMotion

Bases: CartesianWaypointMotion

Cartesian motion with a single target.

__init__(self: franky._franky.CartesianMotion, target: franky._franky.CartesianState, reference_type: franky._franky.ReferenceType = _franky.ReferenceType.Absolute, relative_dynamics_factor: franky._franky.RelativeDynamicsFactor = 1.0, return_when_finished: bool = True, ee_frame: franky._franky.Affine | None = None) → None

Construct a Cartesian motion.

Parameters:

  • target – The target Cartesian state.

  • reference_type – The reference type (absolute or relative). An absolute target is defined in the robot’s base frame, a relative target is defined in the current end-effector frame.

  • relative_dynamics_factor – The relative dynamics factor for this motion. The factor will get multiplied with the robot’s global dynamics factor to get the actual dynamics factor for this motion.

  • return_when_finished – Whether to end the motion when the target is reached or keep holding the last target.

  • ee_frame – The end-effector frame for which the target is defined. This is a transformation from the configured end-effector frame to the end-effector frame the target is defined for.

add_reaction(self: franky._franky.BaseCartesianPoseMotion, reaction: franky._franky.CartesianPoseReaction) → 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.BaseCartesianPoseMotion, callback: collections.abc.Callable[[franky._franky.RobotState, franky._franky.Duration, franky._franky.Duration, franky._franky.Duration, franky._franky.CartesianPose], 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 ee_frame

The end-effector frame for which the targets are defined.

property reactions

Currently registered reactions of the motion.

property reference_type

The reference type (absolute or relative) of this motion.

property relative_dynamics_factor

The relative dynamics factor of this motion.

property return_when_finished

Whether the motion ends when the last waypoint is reached or keeps holding the last target.

property target

The target of this motion.

property waypoints

The waypoints this motion follows.