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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
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Linear Cartesian move as a constraint #218

Closed chen-tianjian closed 9 months ago

chen-tianjian commented 1 year ago

Just wondering if it is possible to formulate the constraints to make the end-effector move in a straight line in Cartesian space (for example, Cartesian velocity direction deviation smaller than a small number)? If so I guess it would be an interesting example.

jmirabel commented 1 year ago

TOPPRA does not change the path. It only change the time parametrization. So no, TOPPRA cannot constrain the end effector to move on a straight line.

chen-tianjian commented 1 year ago

Thanks for your reply. Correct me if I am wrong, I am thinking about generating joint profile between 2 way points (that is sort of "re-timing"), and properly formulate the constraint (using Jacobian) such that the end-effector velocity follows a straight line between the 2 way points.

jmirabel commented 1 year ago

TOPPRA does not modify the geometric path. The joint velocity direction will not be modified. Only its magnitude is. What you ask for is an IK solver and/or a motion planner. This is out of the scope of this repo.

You can find other open source software to do this. The choice depends on your use case.

Or I don't understand your problem.