pycram.robot_plans.motions.robot_body

Classes

MoveJointsMotion

Moves any joint on the robot

Module Contents

class pycram.robot_plans.motions.robot_body.MoveJointsMotion

Bases: pycram.robot_plans.motions.base.BaseMotion

Moves any joint on the robot

names: list

List of joint names that should be moved

positions: list

Target positions of joints, should correspond to the list of names

align: bool | None = False

If True, aligns the end-effector with a specified axis (optional).

tip_link: str | None = None

Name of the tip link to align with, e.g the object (optional).

tip_normal: pycram.datastructures.pose.Vector3Stamped | None = None

Normalized vector representing the current orientation axis of the end-effector (optional).

root_link: str | None = None

Base link of the robot; typically set to the torso (optional).

root_normal: pycram.datastructures.pose.Vector3Stamped | None = None

Normalized vector representing the desired orientation axis to align with (optional).

perform()

Passes this designator to the process module for execution. Will be overwritten by each motion.