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

dict data = sim.moveToConfig(dict params) table data = sim.moveToConfig(table params)

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


See also: