jacobi_studio_robot_motion_planning_quickstart.py

1from jacobi import Planner, Frame
2
3# Create a planner instance for a robot from a Jacobi Studio project
4# Replace 'project-name' and 'robot-name' with your actual IDs
5planner = Planner('project-name')
6robot = planner.get_robot('robot-name')
7
8# Define start and goal positions
9start_config = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
10goal_pose = Frame(x=0.5, y=0.2, z=0.3, roll=3.14, pitch=0, yaw=0)
11
12# Plan a collision-free path
13path = planner.plan(start_config, goal_pose)
14
15if path:
16    print(f"Path found with {len(path.waypoints)} waypoints.")
17else:
18    print("No path found.")