franky.CartesianWaypoint

class franky.CartesianWaypoint

Bases: pybind11_object

A position waypoint with a target and optional parameters.

Template Args:

TargetType: The type of the target.

__init__(self: franky._franky.CartesianWaypoint, target: franky._franky.CartesianState, reference_type: franky._franky.ReferenceType = _franky.ReferenceType.Absolute, relative_dynamics_factor: franky._franky.RelativeDynamicsFactor = 1.0, minimum_time: franky._franky.Duration | None = None, hold_target_duration: franky._franky.Duration = Duration(0), max_total_duration: franky._franky.Duration | None = None) → None

property hold_target_duration

For how long to hold the target of this waypoint after it has been reached.

property max_total_duration

The maximum time to try reaching this waypoint before moving on to the next waypoint. Default is infinite.

property minimum_time

The minimum time to reach this waypoint. This value is ignored when the effective relative dynamics factor has max_dynamics() set.

property reference_type

The reference type (absolute or relative). A relative waypoint is resolved against the preceding waypoint’s target. The first relative waypoint is resolved against the motion’s initial commanded position. This remains true if max_total_duration advances past a waypoint before it is reached.

property relative_dynamics_factor

The relative dynamics factor for this waypoint. This factor will get multiplied with the robot’s global dynamics factor and the motion dynamics factor to get the actual dynamics factor for this waypoint.

property target

The target of this waypoint.