franky.CartesianVelocities

class franky.CartesianVelocities

Bases: pybind11_object

Stores values for Cartesian velocity motion generation.

The Cartesian velocity of the end-effector is expressed in a frame parallel to the fixed/base frame, whose origin is the same as the end-effector frame. Rotations are thus expressed around the end- effector and parallel to the base frame.

__init__(*args, **kwargs)

property O_dP_EE

Cartesian velocity with respect to the o-frame “base frame O” with \((\dot x, \dot y, \dot z)\) in \([m/s]\) and \((\omega_x, \omega_y, \omega_z)\) in \([rad/s]\).

property elbow

Elbow configuration.

The values of the array are:

• elbow[0]: Position of the 3rd joint [rad].

• elbow[1]: Flip direction of the elbow (4th joint): +1 if the 4th joint is above, 0 if it is at, and -1 if it is below \(\alpha = -0.467\) rad.

property motion_finished