chore: make motion_group plan call public

wandelbotsgmbh · Dec 19, 2024 · 818ec90 · 818ec90
1 parent 8709314
commit 818ec90
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/nova/core/motion_group.py b/nova/core/motion_group.py
@@ -60,7 +60,7 @@ async def run(
             raise ValueError("No actions provided")
 
         # PLAN MOTION
-        joint_trajectory = await self._plan(actions, tcp)
+        joint_trajectory = await self.plan(actions, tcp)
 
         # LOAD MOTION
         load_plan_response = await self._load_planned_motion(joint_trajectory, tcp)
@@ -105,7 +105,7 @@ async def _get_optimizer_setup(self, tcp: str) -> wb.models.OptimizerSetup:
             cell=self._cell, motion_group=self._motion_group_id, tcp=tcp
         )
 
-    async def _plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory:
+    async def plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory:
         current_joints = await self.joints(tcp=tcp)
         robot_setup = await self._get_optimizer_setup(tcp=tcp)
         motion_commands = CombinedActions(items=actions).to_motion_command()