Regular API function

sim.moveToPose

Description	Generates object movement data using the Ruckig online trajectory generator, by performing interpolations between two poses. The function can operate by handling 4 movement variables (x,y,z and angle between the two poses), or a single movement variable (t, which requires a metric to be specified for distance calculation between the two poses). This function can only be called from child scripts running in a thread or from a coroutine (since this is a blocking operation). See also sim.moveToConfig, and sim.ruckigPos.
C/C++ synopsis
C/C++ parameters
C/C++ return value
Lua synopsis	float[7]/float[12] endPose/endMatrix,float timeLeft=sim.moveToPose(int flags,float[7]/float[12] currentPose/currentMatrix,float[] maxVel,float[] maxAccel,float[] maxJerk,float[7]/float[12] targetPose/targetMatrix,func/string callback,auxData,float[4] metric=nil,float timeStep=0)
Lua parameters	flags: Ruckig flags. -1 for default flags. currentPose/currentMatrix: the start pose, specified via a pose (x,y,z,qx,qy,qz,qw) or transformation matrix (the last row of the 4x4 matrix is omitted). maxVel: the maximum allowed velocity. If metric is specified, then this is a table of size 1, otherwse a table of size 4. If sim.ruckig_minVel is specified in flags, then this table should contain twice as many values, first the values for the maximum velocity, then the values for the minimum velocity. maxAccel: the maximum allowed acceleration. If metric is specified, then this is a table of size 1, otherwse a table of size 4. If sim.ruckig_minAccel is specified in flags, then this table should contain twice as many values, first the values for the maximum acceleration, then the values for the minimum acceleration. maxJerk: the maximum allowed jerk. If metric is specified, then this is a table of size 1, otherwse a table of size 4. targetPose/targetMatrix: the goal pose, specified via a pose (x,y,z,qx,qy,qz,qw) or transformation matrix (the last row of the 4x4 matrix is omitted). callback: a callback function that will be called for each movement step. The arguments provided to the callback function are: currentPose/currentMatrix, currentVel, currentAccel, auxData. auxData: random data that will be forwarded to the callback function. metric: an optional metric, used to compute a pose-pose distance. If metric is nil, the movement calculation happens in the 4-dimensional space (x,y,z,angle), otherwise it happens in the 1-dimensional space (t). timeStep: the desired time step size. A value of 0 indicates that the current simulation time step will be used.
Lua return values	endPose/endMatrix: the pose at the end of the movement, specified via a pose (x,y,z,qx,qy,qz,qw) or transformation matrix (the last row of the 4x4 matrix is omitted). timeLeft: the leftover time in current simulation step, i.e. the remaining time that was not used for movement.
Python synopsis	list endPose/endMatrix,float timeLeft=sim.moveToPose(int flags,list currentPose/currentMatrix,list maxVel,list maxAccel,list maxJerk,list targetPose/targetMatrix,func callback,auxData,list metric=None,float timeStep=0)