[eitan stern]

I have a few questions about the collision-free motion planner in python.

First of all, i dont see in the documentation an option to create a collision-free motion planner in python.

I tried to look for older posts about it and I can't find how to do it.

Also, is there a way to "save" the collision-free motion planner of the robot in a certain setup so that if i run a different script on the same setup I'll be able to know right away know it the robot is able to run the path I want it to run.

To make the question more clear- I want given a setup to create a function that gets a list of points to which I want to move and returns a new list of the path that moves thro these points.

Thank you very much,
Eitan

[Albert]

The collision-free motion planner map is saved with your project by default. If you want to have a more detailed collision-free map in a specific area you can keep adding points to your map. It doesn't do any harm having more points available in your map, quite the opposite: it will help find the optimal solution under all circumstances given all the data you have.

Another option if you really want to split areas for your collision-free motion planner is to calculate the map using different RoboDK project files (RDK files) and using one project or another project depending on the are you are working on.

If you want to interact with your collision map using the API, the following thread shows you an example:
https://robodk.com/forum/Thread-Collisio...89#pid1189

More specifically, if you want to join different targets you can do:

Code:

status = RDK.PluginCommand("CollisionFreePlanner", "Join", "Target 1|Target 2|ProgSample")