franky.RobotPose

class franky.RobotPose

Bases: pybind11_object

Cartesian pose of a robot.

This class encapsulates the cartesian pose of a robot, which comprises the end effector pose and the elbow position.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: franky._franky.RobotPose, end_effector_pose: franky._franky.Affine, elbow_state: franky._franky.ElbowState | None = None) -> None

Parameters:

  • end_effector_pose – The pose of the end effector.

  • elbow_state – The state of the elbow. Optional.

  1. __init__(self: franky._franky.RobotPose, arg0: franky._franky.RobotPose) -> None

change_end_effector_frame(self: franky._franky.RobotPose, offset_world_frame: franky._franky.Affine) → franky._franky.RobotPose

Change the frame of the end effector by applying a transformation from the right side. This is equivalent to calling rightTransform(transform).

Parameters:

transform – The transform to apply.

Returns:

The robot pose with the new end effector frame.

with_elbow_state(self: franky._franky.RobotPose, elbow_state: franky._franky.ElbowState | None) → franky._franky.RobotPose

Get the pose with a new elbow state.

Parameters:

elbow_state – The new elbow state.

Returns:

The pose with the new elbow state.

property elbow_state

Get the elbow state.

Returns:

The elbow state.

property end_effector_pose

Get the end effector pose.

Returns:

The end effector pose.