sim.moveToConfig
Executes a nDoF 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:
