Simulation signature keys for robotic simulations

A system comprising:

• a motion planning cache;
• and
• a robotic simulation engine configured to:
• access robotic path data for a robot, the robotic path data comprising target locations and corresponding motion parameters for the robot;
• partition the robotic path data into simulation events according to event partitioning criteria such that each simulation event includes one or multiple target locations and corresponding motion parameters;
• and
• for each given simulation event of the robotic path data:
• generate a simulation signature key for the given simulation event using the one or more target locations and corresponding motion parameters for the given simulation event;
• responsive to a determination that the motion planning cache already includes an entry for the simulation signature key generated for the given simulation event:
• obtain motion planning data already stored in the motion planning cache for the given simulation event from the entry for the simulation signature key;
• and
• responsive to a determination that the motion planning cache does not include an entry for the simulation signature key generated for the given simulation event:
• simulate the robot according to the given simulation event to output motion planning data for the given simulation event;
• obtain the motion planning data for the given simulation event output through the simulation of the robot according to the given simulation event;
• and
• insert an entry into the motion planning cache pairing the simulation signature key for the given simulation event with the motion planning data obtained for the given simulation event output through the simulation of the robot according to the given simulation event;
• access additional robotic path data for the robot;
• partition the additional robotic path data into simulation events according to the event partitioning criteria;
• generate a simulation signature key for each of the simulation events of the additional robotic path data;
• and
• obtain motion planning data from the motion planning cache for simulation events of the additional robotic path data with simulation signature keys already stored in the motion planning cache and without simulation of the simulation events of the additional robotic path data with simulation signature keys already stored in the motion planning cache.

A non-transitory machine-readable medium comprising processor-executable instructions that, when executed, cause a system to:

• access robotic path data for a robot, the robotic path data comprising target locations and corresponding motion parameters for the robot;
• partition the robotic path data into simulation events according to event partitioning criteria such that each simulation event includes a sequence of one or multiple target locations and corresponding motion parameters;
• for each given simulation event of the robotic path data:
• generate a simulation signature key for the given simulation event using the sequence of one or more target locations and corresponding motion parameters for the given simulation event;
• simulate the robot according to the given simulation event to output motion planning data for the given simulation event;
• obtain the motion planning data for the given simulation event output through the simulation of the robot according to the given simulation event;
• and
• insert an entry into a motion planning cache pairing the simulation signature key for the given simulation event with the motion planning data obtained for the given simulation event;
• and
• access additional robotic path data for the robot different from the robotic toolpath for the robot;
• partition the additional robotic path data into additional simulation events according to the event partitioning criteria;
• and
• for each additional simulation event of the additional robotic path data:
• generate a simulation signature key for the additional simulation event;
• obtain motion planning data from the motion planning cache for the additional simulation event when with the simulation signature key for the additional simulation event is already stored in the motion planning cache and without simulation of the additional simulation event;
• and
• when the simulation signature key for the additional simulation event is not already stored in the motion planning cache:
• simulate the robot according to the additional simulation event to obtain motion planning data;
• and
• insert an entry into the motion planning cache that pairs the simulation signature key for the additional simulation event with the obtained motion planning data for the additional simulation event.