Missing Waypoint Python bindings

[visose]

Hi @pantor,

I'd like to know if its possible to have WaypointMotion or PathMotion with waypoints that differ in all of these parameters: affine, elbow, blend_max_distance, and velocity_rel within the same motion.

Is it by design that the Python bindings are not exposing enough variables to allow this?

For example, via Python, you can only create a PathMotion where all waypoints have the same blend_max_distance. There is a Waypoint constructor in C++ that that accepts blend_max_distance, but its not there in Python.

There's also no Waypoint constructor that accepts: affine, elbow, blend_max_distance, and velocity_rel. But velocity_rel is a mutable field that can be changed after creating a waypoint.

[pantor]

Hi @visose,

this is not intentional and is just because I did not need the Python bindings for my control. Note that frankx is currently not really maintained, as I'm focusing on the underlying Ruckig library and don't have access to a Franka Emika robot at the moment.

I'd happy to accept tested PRs!

[visose]

I'll have access to a Franka Emika a bit later in August to test, in the meantime I added the constructor mentioned above. You can find the changes here. Let me know if you see something wrong. It does compile and Python code can use the new constructor without errors.