Plan in Studio Project

C++

#include <iostream>

#include <jacobi/planner.hpp>


using namespace jacobi;

int main() {
    // 1. Set up planner by passing the project name in Jacobi Studio
    auto planner = std::make_shared<Planner>("My Project", 0.01);  // delta_time in [s]

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

    // 3. Plan motion defined in Studio project
    const auto trajectory = planner->plan("Home to Camera");

    // 4. Plan with new start and goal positions
    // const auto trajectory = planner.plan({1.6, 0.4, 0.1, 0, 0.5, -1.5}, {0.0, 0.4, 0.6, 0.0, 0.4, -0.4});

    // 5. 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


if __name__ == '__main__':
    # 1. Set up planner by passing the project name in Jacobi Studio
    planner = Planner(project='My Project', delta_time=0.01)

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

    # 3. Plan motion defined in Studio project
    trajectory = planner.plan('Home to Camera')

    # 4. Plan with new start and goal positions
    # trajectory = planner.plan(start=[1.6, 0.4, 0.1, 0, 0.5, -1.5], goal=[0.0, 0.4, 0.6, 0.0, 0.4, -0.4])

    # 5. Print returned trajectory
    if not trajectory:
        raise RuntimeError('Could not calculate a valid trajectory.')

    print(f'Trajectory duration: {trajectory.duration:0.3f} [s]')
    print(f'First joint positions: {trajectory.positions[:2]}')