Motion planning

Requests and results for planning robot motion for a selected grasp candidate.

Messages

Input and result types for robot motion planning.

RobotRef

Robot and its kinematic model.

Fields:

• robot_id (str)

• kinematics (configrip_contracts.common.AssetRef)

MotionGoal

Named goal of the requested robot motion.

Fields:

• name (str)

• target_pose_world (configrip_contracts.common.Pose | None)

MotionPlanningRequest

Inputs required to plan one selected grasp.

Revolute joint positions in start_state use radians; prismatic joint positions use metres. T_A_B transforms coordinates from frame B into frame A.

Fields:

• robot (RobotRef)

• transform_world_robot (Matrix4)

• start_state (dict[str, float])

• grasp (GraspCandidate)

• transform_world_object (Matrix4)

• transform_grasp_tool (Matrix4)

• scene (Scene)

• goals (tuple[MotionGoal, ...])

MotionPlan

Reference to a computationally feasible, collision-checked trajectory.

Fields:

• trajectory (configrip_contracts.common.AssetRef)