Waypoint

class pyniryo_nate.models.motion.Waypoint(joints: Joints | None = None, pose: Pose | None = None, frame_id: str | None = None, reference_frame: str | None = None, planner: Planner | None = None, blending_radius: float | None = None, velocity_factor: float | None = None, acceleration_factor: float | None = None)[source]

Bases: object

Represents a waypoint in a robot trajectory.

A waypoint can be defined either in joint space or Cartesian space (or both). If both are provided, joint values take priority.

Parameters:

  • joints (Joints | None) – Target joint positions (optional).

  • pose (Pose | None) – Target pose in Cartesian space (optional).

  • frame_id (str | None) – The frame the waypoint moves, e.g. the tool center point 'eef_tcp' (optional).

  • reference_frame (str | None) – The frame the pose is expressed in. If not specified, the robot’s base frame (optional).

  • planner (Planner | None) – The motion planner to use for reaching this waypoint (optional).

  • blending_radius (float | None) – Radius for path blending at this waypoint in meters (optional).

  • velocity_factor (float | None) – Scaling factor for velocity (0.0 to 1.0, optional).

  • acceleration_factor (float | None) – Scaling factor for acceleration (0.0 to 1.0, optional).

Attributes

acceleration_factor

blending_radius

frame_id

joints

planner

pose

reference_frame

velocity_factor

Methods

from_transport_model

to_transport_model

joints: Joints | None = None
pose: Pose | None = None
frame_id: str | None = None
reference_frame: str | None = None
planner: Planner | None = None
blending_radius: float | None = None
velocity_factor: float | None = None
acceleration_factor: float | None = None
classmethod from_transport_model(model: Waypoint) → Waypoint[source]
Parameters:

model (Waypoint)

Return type:

Waypoint

to_transport_model() → Waypoint[source]
Return type:

Waypoint