franky.JointVelocityWaypointMotion¶

class franky.JointVelocityWaypointMotion¶

Bases: BaseJointVelocityMotion

Joint velocity waypoint motion.

This motion follows multiple joint velocity waypoints in a time-optimal way.

__init__(self: franky._franky.JointVelocityWaypointMotion, waypoints: collections.abc.Sequence[franky._franky.JointVelocityWaypoint], relative_dynamics_factor: franky._franky.RelativeDynamicsFactor = 1.0) → None¶

Parameters:

waypoints – Joint waypoints to follow.
relative_dynamics_factor – The relative dynamics factor for this motion. The factor will get multiplied with the robot’s global dynamics factor to get the actual dynamics factor for this motion.

add_reaction(self: franky._franky.BaseJointVelocityMotion, reaction: franky._franky.JointVelocityReaction) → 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.BaseJointVelocityMotion, callback: collections.abc.Callable[[franky._franky.RobotState, franky._franky.Duration, franky._franky.Duration, franky._franky.Duration, franky._franky.JointVelocities], 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.

property waypoints¶: The waypoints this motion follows.