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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
640 stars 155 forks source link

Feature Request: Varying dynamics limits #81

Closed mrunaljsarvaiya closed 2 years ago

mrunaljsarvaiya commented 2 years ago

Is there a plan to integrate varying limits into Ruckig? I.e If I want to move through points A,B,C,D I might want the robot to have different velocity limits between B and C.

pantor commented 2 years ago

Hi @mrunaljsarvaiya!

moving through intermediate points is the primary feature of the Ruckig Pro Version (in comparison to the Community Version published here). While the current version does not support varying limits, this is already implemented in the upcoming version which will get released in the following weeks. For more information about Ruckig Pro, feel free to visit ruckig.com or contact us at info@ruckig.com.

pantor commented 2 years ago

This is now implemented in Ruckig Pro.