franky.CartesianPose

class franky.CartesianPose

Bases: pybind11_object

Stores values for Cartesian pose motion generation.

__init__(*args, **kwargs)

property O_T_EE

Homogeneous transformation \(^O{\mathbf{T}_{EE}}_{d}\), column major, that transforms from the end effector frame \(EE\) to base frame \(O\). Equivalently, it is the desired end effector pose in base frame.

property motion_finished