VrepClient.plan_motion

VrepClient.plan_motion(robot, goal_frame, metric_values=None, collision_meshes=None, planner_id='rrtconnect', trials=1, resolution=0.02, gantry_joint_limits=None, arm_joint_limits=None, shallow_state_search=True, optimize_path_length=False)[source]

Find a path plan to move the selected robot from its current position to the goal_frame.

Parameters

  • robot (compas_fab.robots.Robot) – Robot instance to move.

  • goal_frame (Frame) – Target or goal frame.

  • metric_values (list of float) – List containing one value per configurable joint. Each value ranges from 0 to 1, where 1 indicates the axis/joint is blocked and cannot move during inverse kinematic solving.

  • collision_meshes (list of compas.datastructures.Mesh) – Collision meshes to be taken into account when calculating the motion plan. Defaults to None.

  • planner_id (str) – Name of the planner to use. Defaults to rrtconnect.

  • trials (int) – Number of search trials to run. Defaults to 1.

  • resolution (float) – Validity checking resolution. This value is specified as a fraction of the space’s extent. Defaults to 0.02.

  • gantry_joint_limits (list of float) – List of 6 floats defining the upper/lower limits of gantry joints. Use this if you want to restrict the working area of the path planner.

  • arm_joint_limits (list of float) – List of 12 floats defining the upper/lower limits of arm joints. Use this if you want to restrict the working area of the path planner.

  • shallow_state_search (bool) – True to search only a minimum of valid states before searching a path, False to search states intensively.

  • optimize_path_length (bool) – True to search the path with minimal total length among all trials, False to return the first valid path found. It only affects the output if trials > 1.

Returns

list – List of Configuration objects representing the collision-free path to the goal_frame.