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UniversalRobots / industrial_robot_motion_interfaces

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`Trajectory` -> `Program` / `InstructionSequence`? #1

Open gavanderhoorn opened 4 days ago

gavanderhoorn commented 4 days ago

Not an issue, but Discussions aren't enabled here.

Trajectories typically only encode positions (with velocities and other such properties) in my experience.

(I have seen motion primitives used as a more sparse or higher abstraction encoding of a more traditional spline, but then the trajectory would seem to be the result of executing the motions represented by those primitives I believe. I'm not sure the sequence of primitives itself would be considered a trajectory).

The message hosted/designed here seems to contain something more akin to an instruction. There is already a Primitive message, so it seems like that's something you also realised?

Perhaps the container message (IndustrialTrajectory) should reflect that?

Edit: what makes this an industrial trajectory btw? :)

fmauch commented 3 days ago

Thank you for the input! This is indeed currently in a stage where we try to find out where exactly we want to go with this.

We used the term industrial to reflect that industrial robots are usually programmed with such motion primitives. As we attempt to target users that are more used to "traditional" robot programming this term seemed appropriate for us. But we are open for alternative names at this stage ;-)