Cartesian radius of the circular blend around a Cartesian waypoint corner.

Radius of the circular blend around a waypoint corner (max angles-axis deviation).

The id of the world to be used for the collision check.

Specification of what robot is being controlled.

The path of the robot specified in robot_reference to be collision checked. We assume the robot travels linearly (in joint space) between each of the specified waypoints. If you want to collision check a non-point-to-point trajectory with this function, you must discritize it finely enough.

Collision settings to applied during collision checking. If not defined, the default setting with zero margin will be applied.

Whether the checked path is in collision or not.

Message to help the caller understand the collision that occurred. Note, that this message only lists the first collision encountered. There may be more collisions.

All joint configuration of an IK computation and their respective validation results.

Set of constraints that must be jointly satisfied

Maximum Cartesian rotational velocity. If not specified, the default value defined in the robot limits will be used.

Maximum Cartesian translational velocity. The value defines the max translational velocity in the x, y, and z axis. If not specified, the default value defined in the robot limits will be used.

Maximum Cartesian rotational acceleration limits. If not specified, the default value defined in the robot limits will be used.

Maximum Cartesian translational acceleration limits. The value defines the max translational acceleration in the x, y, and z axis. If not specified, the default value defined in the robot limits will be used.

The id of the world to be used for the Forward Kinematic (FK) computation.

Joints to set for the robot. If not set, the current position in the world will be used.

Specification of what robot is being controlled.

The reference frame for which the Cartesian pose is computed. The returned transform is reference_t_target, i.e. the frame of target in the frame of reference. Typically, some of the joints of robot_reference should lie in between these two frames, otherwise you wouldn't see any changes to the returned transform. As an example, reference could be the base link of a robot, and target might be the robot's end-effector.

The target frame for which the Cartesian pose is computed. The returned transform is reference_t_target, i.e. the frame of target in the frame of reference. Typically, some of the joints of robot_reference should lie inbetween the these two frames, otherwise you wouldn't see any changes to the returned transform. As an example, reference could be the base link of a robot, and target might be the robot's end-effector.

Cartesian pose of the target frame expressed in the reference frame.

Next ID: 17

The id of the world to be used for Inverse Kinemetics (IK) computation.

The Cartesian motion target constraint for which we want to compute a joint configuration that satisfies those constraints.

[Optional] Joint configuration, used to seed the Ik. If not set, the current position in the world will be used.

Specification of what robot is being controlled.

The maximum number of solutions to be returned. If not set (== 0), the underlying implementation has the freedom to choose. Negative values are invalid. Choosing a smaller value may make some implementations faster, but this depends on the underlying implementation and is not guaranteed.

If this field is left unset, no collision checking will take place. Otherwise, only collision-free solutions are returned.

Specify whether to compute an IK solution which is on the same kinematic branch as the starting_joints configuration of the robot. Defaults to false.

Optional same branch Ik flag that will prefer solutions on the same kinematic branch over those close to the starting_joints configuration. Defaults to false.

Optional flag to disable setting the error status when there are no valid solutions due to collisions. When false, the request will fail if no collision free solution is found. When true, the request will succeed even if no collision free solution is found. This is useful when accessing the collision debug information. Defaults to false.

Robot joint configuration that satisfy the Cartesian target constraint specified in the request. Solutions will be sorted by distance away from the joint values in the request. If prefer_same_branch is set, the first solution will correspond to the soluiton on the same branch, if such solution exists.

Contains the debug information from the IK call. This includes all solutions generated from the IK solver and their validation results. It informs a user why specific configurations were excluded from the results. In case of collision, it also provides the collision information to identify the objects in collision.

Quantifies how closely the blend must pass by the joint configuration waypoint. It can be interpreted as the coordinate-wise distance at which the blending arc begins.

Defines the result of a collision check. VIOLATED means that a collision was detected. VALID means that no collision was detected.

Defines the result of a joint limit validation check. VIOLATED means that the joint configuration was outside the defined joint limits.

Defines the result of a geometric constraint validation check. VIOLATED means that the joint configuration did not satisfy the defined constraints.

Lower joint position limits allow to restrict the robot joint movement in joint space. Each joint of the robot has lower (min) and upper (max) limits. The specified limits need to be within the robot application limits.

Upper joint position limits allow to restrict the robot joint movement in joint space. Each joint of the robot has lower (min) and upper (max) limits. The specified limits need to be within the robot application limits.

Maximum joint velocity limits per joint. Units are in radians or degrees per second. When not specified, the application limits of the robot will be used.

Max joint acceleration limits per joint. Units are in radians or degrees per second^2. When not specified, the acceleration limits from the robot application limits will be used.

Maximum joint jerk limits for the robot. Units are in radians or degrees per second^3. When not specified, the jerk limits from the robot application limits will be used.

The desired position, one element per joint.

Either one element per joint or empty, in which case the limits default to those defined in the World in which this constraint is applied

Either one element per joint or empty, in which case the limits default to those defined in the World in which this constraint is applied

A vector that indicates the signs of the joint positions in their sum combination. For example, if we want to express the constraint (j0 + j4)^2 <= joint_sum_limit^2, then the joint_signs must be [POSITIVE, UNSPECIFIED, UNSPECIFIED, UNSPECIFIED, POSITIVE, UNSPECIFIED].

The positive square root of the limit on the squared of the sum combination of the joint positions. For an example, please see the comment on joint_signs above.

The motion id to load.

The motion segments to replan.

Maximum time in seconds available for motion planning. Default is 180 seconds.

Configuration for saving or loading this motion.

If true, the cache will not check for fuzzy matches. Default to false.

The id of the world to be used for motion planning.

Defines the robot for which the motion is planned and its parameters.

Specifies the motion planning problem to be solved.

Planner specific configuration. Default will set a timeout of 90 seconds for the motion planning request.

If set, a successful plan will also include the swept volume occupied by the robot while performing the motion.

An ID for identifying which skill/service sends this request.

The logging context for the skill sending the request.

This id should be set ONLY by the motion planning service, and ONLY for the purpose of logging. As worlds are mutable, we should not assume that the world of world_id will be in the same state that it was at the time of this motion planning call. If logging is turned on, the MotionPlannerService will clone the world world_id and the id of the cloned world will be stored here. Assuming nothing else mutates the cloned world, that world can be used as a reliable way to replicate this planning call.

Specifies geometric constraints that will be applied to the motion of the robot. This will also add the constraint to the start and end configuration of the robot.

The motion target of the segment defines the final robot configuration for this segment. The target is defined as a set of constraints that can be specified in terms of either joint position or Cartesian constraints like a pose.

Allows setting the motion type. ANY is the default motion type that enables arbitrary collision free paths in configuration space. LINEAR enforces Cartesian linear trajectories. JOINT enforces joint space interpolation. A planning failure error will be returned if a motion cannot be found of the given type.

Local collision settings for the individual segments. If not defined, segment will use the global collision settings if defined or the default collision settings with zero margin if none are set.

Robot joint limits that allow to update the lower and upper position limits, velocity, acceleration, and jerk for the motion segment. If not defined, the application limits of the robot will be used.

Cartesian limit constraints allow to restrict the Cartesian velocity and acceleration of the robot motion. If not defined, the default limits defined for the robot will be used for Cartesian linear motions and unlimited limits will be used for all other motions. The limit constraints apply to the origin of the moving frame defined in the motion target.

The motion is divided into segments, where each motion segment defines a single motion target as well as optional path and dynamic limit constraints. Note: Currently it is not possible to combine motion segments with linear Cartesian motion requirements with those without linear Cartesian motion requirement. We also do not currently support different joint limits for different segments.

The curve waypoint fitting parameters that will be applied during trajectory generation if multiple motion segments have been defined. Use Cartesian blending parameter for linear Cartesian motion requests and joint blending parameter otherwise.

Local collision settings for the individual segments. If not defined, segment will use the global collision settings if defined or the default collision settings with zero margin if none are set.

Specifies geometric constraints that will be applied to the motion of the robot.

Allows setting the motion type. ANY is the default motion type that enables arbitrary collision free paths in configuration space. LINEAR enforces Cartesian linear trajectories. JOINT enforces joint space interpolation. A planning failure error will be returned if a motion cannot be found of the given type.

Frame for moving_frame_offset, which will be constrained to point at the target point.

Frame for target_frame_offset, which will be pointed at.

Axis used as direction from moving_frame to point at target_frame. If unset, defaults to the z-axis of moving_frame. Does not need to be normalized.

The point defined relative to moving_frame that will be constrained together with moving_axis to point at the target point. Defaults to (0, 0, 0) if unset.

The point defined relative to target_frame that will be pointed at. Defaults to (0, 0, 0) if unset.

The maximum distance between the closest point of the ray and the target point represented by the target_frame and target_frame_offset that is allowed to satisfy the constraint. This can be used if it is not necessary to constrain the point exactly to the target point to give the solver some flexibility in solving the constraint. If unset, defaults to 1e-6, which is also the smallest value that can be set.

The minimum distance between the moving_frame plus moving_frame_offset and the target point represented by the target_frame and target_frame_offset that is allowed to satisfy the constraint. If unset, the moving frame can be positioned arbitrarily close to the target point.

The maximum distance between the moving_frame plus moving_frame_offset and the target point represented by the target_frame and target_frame_offset that is allowed to satisfy the constraint. If unset, the moving frame can be positioned arbitrarily far from the target point.

Moving frame that will be constrained to have a fixed relative pose to the reference frame. This typically is a tool or tip frame.

Reference frame that will be constrained to have fixed relative pose to the moving frame. For relative motions this typically equals the moving frame. For absolute motions it can be any useful reference frame.

The required relative pose between moving_frame and target_frame. If unset, defaults to the identity pose. Always set both, position and orientation of the offset. To specify only one, use the identify for the other, i.e., (x=y=z=0) for position or (w=1, x=y=z=0) for orientation.

Frame for moving_frame_offset, which will be constrained to lie in the bounding box.

Frame for bounding box. This must be the base of a kinematic chain leading to moving_frame, with >= one non-fixed DOF between them in the kinematic chain.

The point defined relative to moving_frame whose position must remain within the bounding box attached to the target_frame. If unset, defaults to (0, 0, 0), the origin of moving_frame.

Defines the center position and rotation of the bounding box relative to the target_frame. If unset, defaults to an identity pose, in which case the bounding box corners are defined relative to target_frame

Defines the (x, y, z) lower bounds in the center frame (i.e., defines a corner of the bounding box). If not set, defaults to having no lower bound, so the bounding box extends to -infinity in every dimension. Elements of the point may also be -infinity to indicate that there is no lower bound on a particular dimension.

Defines the (x, y, z) upper bounds in the center frame (i.e., defines a corner of the bounding box). If not set, defaults to having no upper bound, so the bounding box extends to +infinity in every dimension. Elements of the point may also be +infinity to indicate that there is no upper bound on a particular dimension.

Frame for moving_frame_offset which will be constrained to lie in the ellipsoid.

Reference frame for the ellipsoid.

The x-radius of the ellipsoid

The y-radius of the ellipsoid. If unset, defaults to rx.

The z-radius of the ellipsoid. If unset, defaults to rx.

The point defined relative to moving_frame whose position must remain within the ellipsoid attached to the target_frame. If unset, defaults to (0, 0, 0), the origin of moving_frame.

Defines the center position and rotation of the ellipsoid relative to the target_frame. If unset, defaults to an identity pose, in which case the ellipsoid axes are defined in the target_frame.

Frame for moving_frame_offset, which will be constrained to be equal to target_frame_offset. This typically is a tool or tcp frame.

Frame for target_frame_offset, which will be constrained to be equal to moving_frame_offset. For relative motions this typically equals the moving frame. For absolute motions it can be any useful reference frame.

The point attached to moving_frame. Defaults to (0, 0, 0) if unset.

The point attached to the target_frame. Defaults to (0, 0, 0) if unset.

Frame for moving_frame_offset, which will be constrained to lie in the frustrum.

Reference frame for the frustrum.

Angle between frustrum surface plane and x-z plane

Angle between frustrum surface plane and y-z plane

The point defined relative to moving_frame whose position must remain within the frustum attached to the target_frame. If unset, defaults to (0, 0, 0), the origin of moving_frame.

The distance in meters between the origin of the target_frame and the plane that cuts the tip of the pyramid to form a surface of the frustum. This plane is parallel to the x-y plane in the target_frame. If unset, defaults to 0. Must be >= 0.

The distance in meters between the origin of the target_frame and the plane that defines the base of the frustum. This plane is parallel to the x-y plane in the target_frame. If unset, defaults to infinity. Must be >= min_z_distance.

Moving frame that will be constrained to a new pose that is offset by relative_pose from its starting pose. Typically a tool or tip frame.

The pose offset to apply to the pose of moving_frame. By default, this is relative to the pose of moving_frame at the start of the motion. If optional field reference_frame is set, then relative_pose is relative to reference_frame.

Optional frame that can be used as a reference for relative_pose. This is useful for describing motions where the motion direction does not depend on the starting orientation of moving_frame.

Moving frame that will be constrained to a new position that is offset by relative_position from its starting position. Typically a tool or tip frame.

The translation to apply to position of moving_frame. By default, this is relative to the orientation of moving_frame at the start of the motion. If optional field reference_frame is set, then relative_position is relative to reference_frame.

Optional frame that can be used as a reference for relative_position. This is useful for describing motions where the motion direction does not depend on the starting orientation of moving_frame.

The point attached to moving_frame. Defaults to (0, 0, 0) if unset.

Moving frame that will be constrained to a new orientation that is offset by relative_rotation from its starting orientation. Typically a tool or tip frame.

The rotation to apply to orientation of moving_frame. By default, this is relative to the orientation of moving_frame at the start of the motion. If optional field reference_frame is set, then relative_rotation is relative to reference_frame.

Optional frame that can be used as a reference for relative_rotation. This is useful for describing motions where the motion direction does not depend on the starting orientation of moving_frame.

Must have ObjectType==ROBOT_PART.

Specification of what robot is being controlled.

Starting joint configuration of the robot. If not set, the current position in the world will be used.

Moving frame that will be constrained to have relative rotation to the reference frame that is within some angular offset of a given rotation.

Reference frame that will be constrained to have a relative rotation to the moving frame that is within some angular offset of a given rotation.

The required relative rotation between moving_frame and target_frame. If unset, defaults to the identity rotation.

The radius of the ball. This is an upper bound on the angular distance between rotation_offset defined below and the relative rotation between the moving_frame and target_frame.

Frame for the moving axis that will be constrained to lie within the cone.

Frame for the reference axis that is the center of the cone.

The direction of the axis in moving_frame. Must have non-zero norm.

The direction of the axis in the target_frame. Must have non-zero norm. If unset, defaults to moving_axis.

The maximum absolute angle from which the axes are allowed to deviate from parallel. This is equivalent to half of the opening angle of the cone formed from all allowed positions of moving_axis relative to target_axis, which is the axis of the cone. If unset, defaults to 0.

Moving frame that will be constrained to have a fixed relative rotation to the reference frame.

Reference frame that will be constrained to have a fixed relative rotation to the moving frame.

The required rotation between moving_frame and target_frame. If unset, defaults to the identity rotation.

If requested, these shapes represent the swept volume generated by the input robot performing the computed trajectory.

If the motion is locked based on the request, this is the id of the motion for loading later. Note this field is not set if this response is from loading a locked motion.

Logging id generated for this request. Can be used to retrieve details about the request for debugging.

The computed discretized trajectory that can be executed by the input robot.

Set of constraints that must be jointly satisfied

means zero

means +1 multiplier

means -1 multiplier

Means validation test was not performed and is unknown.