franky.RobotVelocity

class franky.RobotVelocity

Bases: pybind11_object

Cartesian velocity of a robot.

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

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: franky._franky.RobotVelocity, end_effector_twist: franky._franky.Twist, elbow_velocity: typing.SupportsFloat | typing.SupportsIndex | None = None) -> None

Parameters:

  • end_effector_twist – The twist of the end effector.

  • elbow_velocity – The velocity of the elbow (optional).

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

change_end_effector_frame(self: franky._franky.RobotVelocity, offset_world_frame: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → franky._franky.RobotVelocity

Change the end-effector frame by adding the given offset to the current end-effector frame. Note that the offset must be given in world coordinates.

Parameters:

offset_world_frame – The offset to add to the current end-effector frame.

Returns:

The velocity of the new end-effector frame.

with_elbow_velocity(self: franky._franky.RobotVelocity, elbow_velocity: SupportsFloat | SupportsIndex | None) → franky._franky.RobotVelocity

Get the velocity with a new elbow velocity.

Parameters:

elbow_velocity – The new elbow velocity.

Returns:

The velocity with the new elbow velocity.

property elbow_velocity

Get the elbow velocity.

Returns:

The elbow velocity.

property end_effector_twist

Get the end effector twist.

Returns:

The end effector twist.