sim.moveToConfig

Executes a n-DoF motion using the Ruckig online trajectory generator. This function can only be called from scripts running in a thread, since this is a blocking operation

Synopsis

Arguments

• params: parameters of the function:
  • pos: mandatory if joints is not specified. Specifies the current configuration as a vector with one value per DoF
  • joints: mandatory if pos is not specified. Specifies the joint handles as a vector with one handle per DoF
  • targetPos: specifies the target configuration as a vector with one value per DoF
  • flags: optional. Ruckig flags, -1 for default flags.
  • vel: optional. Specifies current velocity as a vector with one value per DoF. Defaults to [0, 0, ...] if omitted
  • accel: optional. Specifies current acceleration as a vector with one value per DoF. Defaults to [0, 0, ...] if omitted
  • maxVel: optional if neither maxAccel nor maxJerk are specified. Specifies the maximum allowed velocity as a vector with one value per DoF. Defaults to [inf, inf, ...] if omitted
  • minVel: optional. Specifies the minimum allowed velocity as a vector with one value per DoF. Defaults to -maxVel if omitted
  • maxAccel: optional if neither maxVel nor maxJerk are specified. Specifies the maximum allowed acceleration as a vector with one value per DoF. Defaults to [inf, inf, ...] if omitted
  • minAccel: optional. Specifies the minimum allowed acceleration as a vector with one value per DoF. Defaults to -maxAccel if omitted
  • maxJerk: optional if neither maxVel nor maxAccel are specified. specifies the maximum allowed jerk as a vector with one value per DoF. Defaults to [inf, inf, ...] if omitted
  • targetVel: optional. Specifies the target velocity as a vector with one value per DoF. Defaults to [0, 0, ...] if omitted
  • callback: optional. Callback function called for each motion step. The argument provided to the callback function is the current motion state
  • auxData: optional. Data to be forwarded to the callback function
  • cyclicJoints: optional. Indicates which joint is cyclic (for cyclic joints, the movement always goes in the direction that represents the shortest distance to the goal). Defaults to [false, false, ...] is omitted
  • timeStep: optional. The desired time step size. A value of 0 indicates that the current simulation time step is used. Defaults to 0 if omitted

Return values

• data: current motion state