pylabrobot.brooks.precise_flex.PreciseFlex.move_through_cartesian_poses#

async PreciseFlex.move_through_cartesian_poses(poses: Sequence[PreciseFlexCartesianPose], speed_pct: float | None = None, blend: bool = True) → None#

Move through a sequence of Cartesian poses using one planned IK route.

The standard Cartesian move path snapshots the current state for each waypoint, which waits for end-of-motion between moves. For taught air-transit routes, this method snapshots state once, plans each subsequent IK target from the previous planned target, queues the joint moves, and waits only after the final waypoint.

This is a PreciseFlex-specific primitive: intermediate waypoints may be blended by the controller and should not be used for operations that require an exact stop, gripper action, or physical contact at every pose.

Parameters:

  • poses (Sequence[PreciseFlexCartesianPose]) – Cartesian waypoints to move through, in order.

  • speed_pct (float | None) – Movement speed override as a percentage (0-100). If None, uses the current speed setting.

  • blend (bool) – When True, temporarily set the active motion profile’s InRange value to -1 so the controller may blend through intermediate waypoints instead of stopping at each one. The original profile is restored after the final waypoint is reached.

Return type:

None