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.jump_threshold = 0.0  # effectively disable jump threshold.

Methods

Attributes

`jump_threshold`	Limit joint displacement between consecutive waypoints, thus preventing jumps in joint space.
`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.
`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 jump_threshold¶

Limit joint displacement between consecutive waypoints, thus preventing jumps in joint space. This values specifies the fraction of mean acceptable joint motion per step.

Type:: float

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 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