Motion Planning

In this section we cover the fundamental concepts of the Jacobi Motion planning library. The Planner is the core of the motion library and calculates the actual robot trajectories.

There are two approaches to motion planning in Jacobi that we will explore:

• Using waypoints: Suitable for solving simple motion planning problems,

• Using the motion interface: Suitable for motion planning in complex use-cases, e.g., with custom kinematic limits, motion constraints and changing end-effector obstacles.

• Planning with Waypoints
  • Waypoints
  • Query the Planner
  • Trajectory
• Motion Interface
  • Motion
  • Linear Motion
  • Path Following Motion
  • Low Level Motion
  • Bimanual Motion
• Planning with Motion interface
  • Failure Cases
• Sequence Planning
• Training
  • Motion Regions
  • Start a Training
  • Loading the Motion Plan