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Synopsis
dict motionObject = sim.moveToConfig_init(dict params)
table motionObject = sim.moveToConfig_init(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
- motionObject: a motion object
See also:
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