franky.CartesianWaypointMotion

class franky.CartesianWaypointMotion

Bases: BaseCartesianPoseMotion

Cartesian waypoint motion.

This motion follows multiple consecutive cartesian targets in a time-optimal way.

__init__(self: franky._franky.CartesianWaypointMotion, waypoints: collections.abc.Sequence[franky._franky.CartesianWaypoint], ee_frame: franky._franky.Affine | None = None, relative_dynamics_factor: franky._franky.RelativeDynamicsFactor = 1.0, return_when_finished: bool = True) → None
Parameters:

  • waypoints – Waypoints to follow.

  • relative_dynamics_factor – The relative dynamics factor for this motion. This 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 last waypoint 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 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 waypoints

The waypoints this motion follows.