Robot.plan_motion

Robot.plan_motion(target, start_configuration=None, group=None, options=None)

Calculate a motion path.

Parameters:

targetcompas_fab.robots.Target

The target to be achieved by the robot at the end of the motion. See Targets and Waypoints.

start_configurationcompas_robots.Configuration, optional

The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position. Defaults to the all-zero configuration.

groupstr, optional

The name of the planning group used to define the movable joints. The planning group must match with one of the groups defined in the robot’s semantics. Defaults to the robot’s main planning group.

optionsdict, optional

Dictionary containing the following key-value pairs:

• path_constraints :: list of Constraint, optional

  Optional constraints that can be imposed along the solution path. Note that path calculation won’t work if the start_configuration violates these constraints. Defaults to None.

• attached_collision_meshes :: list of compas_fab.robots.AttachedCollisionMesh

  Defaults to None.

There are additional options that are specific to the backend in use. Check the API reference of the motion planner backend implementation for more details.

Returns:

JointTrajectory

The calculated trajectory.

Examples

Using a FrameTarget :

>>> with RosClient() as client:             
#: This doctest can pass locally but persistently fails on CI in GitHub. "roslibpy.core.RosTimeoutError: Failed to connect to ROS"
...     robot = client.load_robot()
...     frame = Frame([0.4, 0.3, 0.4], [0, 1, 0], [0, 0, 1])
...     tolerance_position = 0.001
...     tolerance_orientation = math.radians(1)
...     start_configuration = Configuration.from_revolute_values([-0.042, 4.295, 0, -3.327, 4.755, 0.])
...     group = robot.main_group_name
...     target = FrameTarget(frame, tolerance_position, tolerance_orientation)
...     goal_constraints = robot.constraints_from_frame(frame, tolerance_position, tolerances_axes, group)
...     trajectory = robot.plan_motion((target, start_configuration, group, {'planner_id': 'RRTConnect'})
...     print(trajectory.fraction)
1.0

Using a ConfigurationTarget :

>>> with RosClient() as client:             
#: This doctest can pass locally but persistently fails on CI in GitHub. "roslibpy.core.RosTimeoutError: Failed to connect to ROS"
...     robot = client.load_robot()
...     joint_names = robot.get_configurable_joint_names()
...     configuration = Configuration.from_revolute_values([0.0, -1.5707, 0.0, -1.5707, 0.0, 0.0], joint_names)
...     tolerances_above = [math.radians(5)] * len(configuration.joint_values)
...     tolerances_below = [math.radians(5)] * len(configuration.joint_values)
...     group = robot.main_group_name
...     target = ConfigurationTarget(configuration, tolerances_above, tolerances_below)
...     trajectory = robot.plan_motion(target, start_configuration, group, {'planner_id': 'RRTConnect'})
...     print(trajectory.fraction)
1.0