intrinsic.solutions.worlds.CartesianMotionTarget
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Represents motion targets in Cartesian space.
intrinsic.solutions.worlds.CartesianMotionTarget(
tool: intrinsic.solutions.worlds.TransformNodeTypes,
frame: intrinsic.solutions.worlds.TransformNodeTypes,
offset: Optional[intrinsic.math.python.data_types.Pose3] = None
)The target has two required parameters: tool and frame. If only those two are specified, the target is interpreted as "align the tool with frame".
Optionally, you can also provide offset, which introduces a local transform between frame and tool target.
The tool will be aligned with a transform from to target, world_t_target, computed as: world_t_target = world_t_frame * offset where offset will be the identity transform if left undefined.
Example 1: Align gripper with awesome_frame: target_1 = CartesianMotionTarget(tool=gripper, frame=awesome_frame)
Example 2: Place the gripper 10cm shifted along to the x-axis of awesome_frame: target_2 = CartesianMotionTarget( tool=gripper, frame=awesome_frame, offset=Pose3(translation=[0.1, 0, 0]))
Example 3: Move the gripper 10cm forward (along z-axis) in its own coordinate frame: target_2 = CartesianMotionTarget( tool=gripper, frame=gripper, offset=Pose3(translation=[0, 0, 0.1]))
Args | |
|---|---|
World Object or Frame corresponding to the robot link / object whose pose you wish to specify. | |
The target Object or Frame. | |
Optional transform allowing to specify a local offset between the frame and tool. | |
Attributes | |
|---|---|
World resource of the tool whose pose this target specifies. | |
World resource of the frame with which to align the tool. | |
Optional offset between frame and tool pose. | |
Representation as motion_planner_service_pb2.CartesianMotionTarget proto. | |
Methods
from_proto
View source
@classmethodfrom_proto( target: motion_target_pb2.CartesianMotionTarget ) -> 'CartesianMotionTarget'