Multiple goal pose for robot

[daudaml]

Hi
When I run plan_goalset and give as as input two poses, it only plans for the first pose. What could be the issue? Also, can I slow down the speed of generated motion by changing any input argument?

[balakumar-s]

plan_goalset plans to reach one of the poses in the goalset. This is similar to equation 10 in https://arxiv.org/abs/2204.00134.

If you want to generate motion plans from a batch of start configs to a batch of goal poses, check plan_batch(). E.g.,

curobo/examples/motion_gen_example.py

Line 250 in c09d949

result = motion_gen.plan_batch(

To slow down motions, try a velocity_scale of 0.5.

curobo/src/curobo/wrap/reacher/motion_gen.py

Line 198 in c09d949

velocity_scale: Optional[Union[List[float], float]] = None,