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WPI-Humanoid-Robotics-Lab / tough

Transportable Opensource UI for Generic Humanoids
MIT License
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The wholebody trajectories use max velocity and max acceleration. #23

Open ninja777 opened 5 years ago

ninja777 commented 5 years ago

https://github.com/WPI-Humanoid-Robotics-Lab/tough/blob/6c51e4a381f00379fe9740bd369ca710c712d822/tough_motion_planners/tough_moveit_planners/src/taskspace_planner.cpp#L111

Wholebody trajectories use maximum velocity and accelerations while computing timestamps. This causes robot to freeze while executing the trajectories. Modify this value based on experiments.

AshayAswale commented 5 years ago

In the taskspace_planner.h, the use of IterativeSplineParameterization instead of IterativeParabolicTimeParameterization has produced a comparatively smoother trajectory. Should I push that? But that is not a permanent fix.

ninja777 commented 5 years ago

That's a good start. Let's push that in.