Type: | module |
---|---|
Plugin: | rmanipulation |
Interface Author: | |
Rosen Diankov |
Very useful routines for manipulation planning and planning in general. The planners use analytical inverse kinematics and search based techniques. Most of the MoveX commands by default execute the plan on the current robot by calling RobotBase.GetController().SetPath(). This can be disabled by adding ‘execute 0’ to the command line
Moves the current active joints to a specified goal destination:
Move the active end-effector in a straight line until collision or IK fails. Parameters:
Method wraps the WorkspaceTrajectoryTracker planner. For more details on parameters, check out its documentation.
Moves the active joints to a position where the inactive (hand) joints can fully move to their goal. This is necessary because synchronization with arm and hand isn’t guaranteed. Options: handjoints savetraj planner