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Fix for SchunkWsgTrajectoryGenerator failing on delta=0 #20828

Merged
merged 1 commit into from
Jan 26, 2024
Merged

Fix for SchunkWsgTrajectoryGenerator failing on delta=0 #20828

merged 1 commit into from
Jan 26, 2024

Commits on Jan 26, 2024

  1. Fix for SchunkWsgTrajectoryGenerator failing on delta=0 

    There was a particular set of initial conditions which could cause the
trajectory generator to fail, because it passed times=[0, 0, 0] to the
PiecewisePolynomial.FirstOrderHold, which then complained about
non-increasing times.

This PR adds a test which captures the failure, and the fix.
    @RussTedrake
    RussTedrake committed Jan 26, 2024
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