pymoveit_mtc.core.JointInterpolationPlanner¶

class JointInterpolationPlanner(self: pymoveit_mtc.core.JointInterpolationPlanner)¶

Bases: PlannerInterface

Perform linear interpolation between joint space poses. Fails on collision along the interpolation path. There is no obstacle avoidance.

from moveit.task_constructor import core

# Instantiate joint-space interpolation planner
jointPlanner = core.JointInterpolationPlanner()
jointPlanner.max_step = 0.1

Methods

Attributes

`cartesian_speed_limited_link`	link with limited cartesian speed
`max_acceleration_scaling_factor`	Reduce the maximum acceleration by scaling between (0,1]
`max_cartesian_speed`	maximum cartesian speed
`max_step`	Limit any (single) joint change between two waypoints to this amount
`max_velocity_scaling_factor`	Reduce the maximum velocity by scaling between (0,1]
`properties`	Properties of the planner

property cartesian_speed_limited_link¶

link with limited cartesian speed

Type:: str

property max_acceleration_scaling_factor¶

Reduce the maximum acceleration by scaling between (0,1]

Type:: float

property max_cartesian_speed¶

maximum cartesian speed

Type:: float

property max_step¶

Limit any (single) joint change between two waypoints to this amount

Type:: float

property max_velocity_scaling_factor¶

Reduce the maximum velocity by scaling between (0,1]

Type:: float

property properties¶: Properties of the planner