Along Waypoints

C++

#include <iostream>

#include <jacobi/planner.hpp>
#include <jacobi/robots/franka_panda.hpp>


using namespace jacobi;
using namespace jacobi::robots;

int main() {
    // 1. Set up the robot and its kinematics limits
    auto robot = std::make_shared<FrankaPanda>();
    robot->max_velocity = {2.0, 2.0, 2.0, 2.0, 4.0, 4.0, 4.0};
    robot->max_acceleration = {3.0, 3.0, 3.0, 3.0, 6.0, 6.0, 6.0};
    robot->max_jerk = {100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0};

    // 2. Set up the planner with the cycle time of the robot (alias the timer interval of trajectory steps)
    auto planner = std::make_shared<Planner>(robot, 0.001); // [s]

    // [Cloud version] Authenticate with your account API key by setting
    // the `JACOBI_API_KEY` and `JACOBI_API_SECRET` environment variable.

    LowLevelMotion motion;
    motion.start = {-1.27, 0.61, -0.46, 0.0, -1.81, 0.0, 0.0};
    motion.intermediate_positions = {
        {-1.38, 0.64, -0.46, 0.0, -1.82, 0.0, 0.0},
        {-1.49, 0.69, -0.46, 0.0, -1.81, 0.1, 0.0},
        {-1.52, 0.72, -0.46, 0.0, -1.72, 0.3, 0.0},
        {-1.66, 0.75, -0.46, 0.0, -1.50, 0.6, 0.0},
    };
    motion.goal = {-1.69, 0.76, -0.46, 0.0, -1.36, 0.7, 0.0};

    // 3. Plan the low-level motion
    const auto trajectory = planner->plan(motion);

    // 4. Print returned trajectory
    if (!trajectory) {
        std::cout << "Could not find a trajectory!" << std::endl;
        return -1;
    }

    std::cout << "Trajectory duration: " << trajectory->duration << " [s]" << std::endl;
    std::cout << "Calculation duration: " << planner->last_calculation_duration << " [ms]" << std::endl;
}

Python

from jacobi import Planner, LowLevelMotion
from jacobi.robots import FrankaPanda


if __name__ == '__main__':
    # 1. Set up the robot, transformations, and its kinematics limits
    robot = FrankaPanda()
    robot.max_velocity = [2.0, 2.0, 2.0, 2.0, 4.0, 4.0, 4.0]
    robot.max_acceleration = [3.0, 3.0, 3.0, 3.0, 6.0, 6.0, 6.0]
    robot.max_jerk = [100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0]

    # 2. Set up the planner with the cycle time of the robot (alias the timer interval of trajectory steps)
    planner = Planner(robot, delta_time=0.001)  # [s]
    planner.set_server_url('http://localhost:8080')

    # [Cloud version] Authenticate with your account API key by setting
    # the `JACOBI_API_KEY` and `JACOBI_API_SECRET` environment variable.

    motion = LowLevelMotion()
    motion.start = [-1.27, 0.61, -0.46, 0.0, -1.81, 0.0, 0.0]
    motion.intermediate_positions = [
        [-1.38, 0.64, -0.46, 0.0, -1.82, 0.0, 0.0],
        [-1.49, 0.69, -0.46, 0.0, -1.81, 0.1, 0.0],
        [-1.52, 0.72, -0.46, 0.0, -1.72, 0.3, 0.0],
        [-1.66, 0.75, -0.46, 0.0, -1.50, 0.6, 0.0],
    ]
    motion.goal = [-1.69, 0.76, -0.46, 0.0, -1.36, 0.7, 0.0]

    # 3. Plan the low-level motion
    trajectory = planner.plan(motion)

    # 4. Print returned trajectory
    if not trajectory:
        print('Could not find a trajectory!')
        exit()

    print(f'Trajectory duration: {trajectory.duration:0.3f} [s]')
    print(f'Calculation duration: {planner.last_calculation_duration:0.2f} [ms]')