intrinsic.point_to_point_move

Generates and executes a jerk-limited time-optimal trajectory to move the part's joints to the desired target position. Uses Reflexxes for instantaneous real-time motion generation. For motions with zero initial and target joint velocity, or co-linear initial and final velocity, the resulting trajectory will typically be linear in joint-space. Otherwise, there are no guarantees on the geometric shape of the joint move. Online trajectory execution will slow down/speed up according to the speed override factor in a differentially consistent and time-optimal way. This action also holds a settling state estimator which monitors residual oscillations or tracking error transients after the trajectory has been played back. See state variable documentation of intrinsic.is_settled for details.

This action does not have streaming inputs, streaming output or real-time signals.

Fixed Parameters

Message Type: intrinsic_proto.icon.actions.proto.PointToPointMoveFixedParams

State Variables

intrinsic.is_done (bool)

This Action reports 'done' as soon as the last setpoint is commanded. This might not coincide with the robot actually reaching that setpoint.

intrinsic.is_settled (bool)

This Action reports 'settled' as soon as the robot has reached a settled state with zero joint velocity after executing the motion.

intrinsic.action_elapsed_time (double)

Builtin state variable that reports the amount of time since an action became active, in seconds

intrinsic.distance_to_sensed (double)

Euclidean norm of the difference between the final setpoint and the sensed joint position.

intrinsic.setpoint_done_for_seconds (double)

Time (in seconds) since the final setpoint was commanded. Can be zero in the cycle that the final setpoint is commanded. Only available as soon as the Action is done (i.e. has sent the final setpoint). Conditions that use this variable will always evaluate to false until then.