Motion Planning#

class Trajectory#

id: str#: Field for identifying trajectories (for the user).

motion: str#: Name of the motion this trajectory was planned for.

duration: float#: The trajectory duration in [s].

times: List[float]#: The exact time stamps for the position, velocity, and acceleration values. The times will usually be sampled at the delta_time distance of the Planner class, but might deviate at the final step.

positions: List[Config]#: The joint positions along the trajectory.

velocities: List[Config]#: The joint velocities along the trajectory.

accelerations: List[Config]#: The joint accelerations along the trajectory.

reverse() → Trajectory#: Reverse the trajectory’s start and goal.

append(other: Trajectory)#: Appends another trajectory to the current one.

slice(start: int, steps: int) → Trajectory#: Get a slice of the trajectory starting from step start for a length of steps.

filter_path(max_distance: Config) → List[Config]#

Filter a path of sparse waypoints from the trajectory.

The path has a maximum distance per degree of freedom between the linear interpolation of the sparse waypoints and the original trajectory.

static from_json_file(file: Path) → Trajectory#: Loads a trajectory from a *.json file.

to_json_file(file: Path)#: Saves a trajectory to a *.json file.

__len__() → int#: The number of time steps within the trajectory.

as_table() → str#: To pretty print the trajectory as a table of positions.

class Planner#

delta_time: float#: The time step for sampling the trajectories from the planner in [s]. Usually, this should correspond to the control rate of the robot.

last_calculation_duration: float#: The duration of the last motion planning calculation in [ms].

__init__(environment: Environment, delta_time: float)#: Constructs a planner for the given environment.

__init__(robot: Robot, delta_time: float)#: Constructs a planner for the given robot and an empty environment.

__init__(project: str, delta_time: float)#: Cloud version: Constructs a planner with the environment defined in the given Jacobi Studio project.

static load_from_project_file(file: Path) → Planner#: On-prem version: Loads a planner from a *.jacobi-project file.

add_motion(motion: Motion | LinearMotion | LowLevelMotion)#

load_motion_plan(file: Path)#: On-prem version: Loads a motion plan from the *.jacobi-plan file.

plan(start: ExactPoint, goal: ExactPoint) → Trajectory | None#: Plans a time-optimized, collision-free, and jerk-limited motion from start to goal.

plan(motion_name: str, start: ExactPoint = None, goal: ExactPoint = None) → Trajectory | None#: Plans a time-optimized, collision-free, and jerk-limited motion given the motion name. In case the motion was specified by a start or goal region, the respective exact start or goal positions needs to be passed.

plan(motion: Motion) → Trajectory | None#: Plans a collision-free point-to-point motion.

plan(motion: LinearMotion) → Trajectory | None#: Plans a linear motion.

plan(motion: LowLevelMotion) → Trajectory | None#: Plans a low-level motion.