Closed tjh49 closed 5 years ago
Zero velocity can be achieved by setting bc_type
to clamped
in compute_trajectory.
See below for example. jnt_traj, aux_traj, data = instance.compute_trajectory(0, 0, return_data=True, bc_type="clamped")
Btw, thank you for asking. I will update the example to mention this point as well.
@tjh49 Hi, the lastest commit on branch master now automatically choose this setting if both start and end path velocities are zero.
problem solved! Thank you so much!
Just run the basic example and find out the velocities are not zeros at beginning and ending. Wondering how come this happened since the initial and finals velocities should be zeros for robot controlling.