How to apply velocity smooth constraint and weight

[dbdxnuliba]

how could we aplly velocity smooth constraint and weight

[stephane-caron]

I see different ways to interpret your question, so here are some options depending on your use case:

• If by smooth velocity constraint you mean that velocities cannot be too high, you can use the VelocityLimit.
• If you rather mean that velocity variations should not be too high, then you can derive from this class to additionally store/pass a current velocity parameter, and constraint the maximum deviation of the new velocity from the current one.
• If by "weight" you refer to a penalization in the cost function (soft) rather than inequality constraints (hard), then you can take a look at tasks rather than limits.
• And if your use case is more complex, you can also take a look at barriers, which are more general than limits and tasks.

Hoping this helps!