franky.CartesianStopMotion¶

class franky.CartesianStopMotion¶

Bases: BaseCartesianPoseMotion

Stop motion for cartesian pose control mode.

__init__(self: franky._franky.CartesianStopMotion, relative_dynamics_factor: franky._franky.RelativeDynamicsFactor = 1.0) → None¶

Parameters:: relative_dynamics_factor – Relative dynamics factor for this stop motion.

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¶

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.

property relative_dynamics_factor¶: The relative dynamics factor of this motion.