Contribution: Motion Programming

[CamiloMGS]

Hello! 👋

First of all, a huge thank you for this awesome package! 🚀

A few years ago, I was working on something similar to create a Digital Twin of a robot inside Unity. When I discovered this package, I was truly impressed by its power and potential. It immediately motivated me to contribute!

I'd love to contribute by adding support for Motion Programming, which is a feature I have developed in my own projects. My idea is to implement a feature in this package that allows defining and executing trajectories directly, using typically robot actions such as:

• MoveL
• MoveC
• MoveJ
• WaitTime

This is a demo that could be achieved 🎮:

This would enable realistic simulations by using the well-implemented IK and DK algorithms already in the project. I believe this could be a great addition!

I'll use this post to share updates on my progress and ask any technical questions along the way.

So, the first question is: how do I start collaborating?
Should I fork the project and start working on it?

Best,

[Preliy]

Hello!

Thanks for your feedback and interest!
Yes, of course—any contributions are welcome. 👍

otion planning and trajectory generation are important features to drive the project forward. I’d love to hear your ideas and experiences from your own project. (Vides looks really good)

I’ve been working on developing similar functionality for the past few years under the name Flange.Planner, which is now in its alpha version (Video). If there's interest, I will create a new branch called "planner" and soon commit the current codebase.

Feel free to take a look, and we can refine the architecture together based on your ideas and vision.

Yes, you are welcome to create a fork and submit a pull request with your changes.

I will also set up a section in “Discussions” to explain the requirements and goals for these features.

Best regards

[CamiloMGS]

Your demo is awesome!
It looks like you've already done an amazing job on trajectory generation.

Nice! I'll wait for the "planner" branch.

I think it would be great to have:

• Motion planning without coding
• Support for basic motion types (MoveL, MoveC, MoveJ, Open/Close gripper, WaitTime)
• Save and Load planning
• Trajectory visualization

Just like in your demo, but accessible from the editor in an abstract way that could be applied to any robot.