pymoveit_mtc.core.CartesianPath

class CartesianPath(self: pymoveit_mtc.core.CartesianPath)

Bases: PlannerInterface

Perform linear interpolation between Cartesian poses. Fails on collision along the interpolation path. There is no obstacle avoidance.

from moveit.task_constructor import core

# Instantiate Cartesian-space interpolation planner
cartesianPlanner = core.CartesianPath()
cartesianPlanner.step_size = 0.01
cartesianPlanner.precision.translational = 0.001

Methods

Attributes

max_acceleration_scaling_factor	Reduce the maximum acceleration by scaling between (0,1]
max_velocity_scaling_factor	Reduce the maximum velocity by scaling between (0,1]
min_fraction	Fraction of overall distance required to succeed.
precision	Cartesian interpolation precision
properties	Properties of the planner
step_size	Limit the Cartesian displacement between consecutive waypoints In contrast to joint-space interpolation, the Cartesian planner can also succeed when only a fraction of the linear path was feasible.

property max_acceleration_scaling_factor

Reduce the maximum acceleration by scaling between (0,1]

Type:

float

property max_velocity_scaling_factor

Reduce the maximum velocity by scaling between (0,1]

Type:

float

property min_fraction

Fraction of overall distance required to succeed.

Type:

float

property precision

Cartesian interpolation precision

property properties

Properties of the planner

property step_size

Limit the Cartesian displacement between consecutive waypoints In contrast to joint-space interpolation, the Cartesian planner can also succeed when only a fraction of the linear path was feasible.

Type:

float