rby1_sdk.CartesianCommandBuilder

class CartesianCommandBuilder

Bases: pybind11_object

Cartesian command builder.

Builds end-effector Cartesian pose targets and optional per-joint auxiliary targets. Each Cartesian target specifies a desired homogeneous transform \({}^{ref}\!T^{link}_d \in SE(3)\) together with velocity/acceleration constraints used to time the motion.

Notes

• Cartesian error is computed in the reference frame and tracked subject to velocity/acceleration limits provided per target.

• Joint targets added via add_joint_position_target are auxiliary hints that can help disambiguate IK or bias the posture during Cartesian tracking.

Examples

>>> import numpy as np, rby1_sdk as rby
>>> T = np.eye(4); T[0,3] = 0.40; T[2,3] = 0.60           # 40 cm forward, 60 cm up
>>> cart = (
...   rby.CartesianCommandBuilder()
...   .add_target("base", "link_torso_5", T,
...               linear_velocity_limit=0.4,     # [m/s]
...               angular_velocity_limit=1.0,    # [rad/s]
...               acceleration_limit_scaling=0.6)
...   .add_joint_position_target("right_arm_3", 0.3, velocity_limit=1.2)
...   .set_minimum_time(2.0)
... )

__init__(self: rby1_sdk.CartesianCommandBuilder) → None

Construct a CartesianCommandBuilder instance.

Methods

__init__(self)	Construct a CartesianCommandBuilder instance.
add_joint_position_target(self, joint_name, ...)	Add an auxiliary joint position target.
add_target(self, ref_link_name, link_name, ...)	Add a Cartesian pose target for a link.
set_command_header(self, command_header_builder)	Attach a command header.
set_minimum_time(self, minimum_time)	Set the minimum execution time for the motion.
set_stop_joint_position_tracking_error(self, ...)	Set the stop threshold on joint-space position tracking error.
set_stop_orientation_tracking_error(self, ...)	Set the stop threshold on rotational tracking error.
set_stop_position_tracking_error(self, ...)	Set the stop threshold on translational tracking error.