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fix minjerk interpolation sometimes returns large acceleration #596
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… segment-time to exact position
@708yamaguchi, please compare
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Thank your very much for your debugging! I understand that we need to set default velocity/acceleration data. With your commits, I can move kinova arm with/without MoveIt! |
closes jsk-ros-pkg/jsk_pr2eus#457
#f(0) #f(1) #f(2) #f(3)
, if your data is#f(0) #f(1) #f(0) #f(1)
, veocity of all sample point is #f(0), so default velocity/acceleration data works.↓ without velocity and acceleration data
![Screenshot from 2021-01-21 23-37-38](https://user-images.githubusercontent.com/493276/105367583-ee915c00-5c43-11eb-9529-78b4a2b150c8.png)
↓ with velocity and acceleration data
![Screenshot from 2021-01-21 23-43-05](https://user-images.githubusercontent.com/493276/105367592-f0f3b600-5c43-11eb-86e2-363cdf95ea66.png)
time-list
is not algined withdt
,(draw-grph 0.001)
,(draw-grph 0.0013)
,(draw-grph 0.005)
ofhttps://gist.github.com/k-okada/c575606258a822971e3dc6dbe3eb337e is as follows.
note: @708yamaguchi
angle-vector-sequence
with MoveIt! and then use minjerk interpolator to create the data, but did you try create interpolated data from normal euslisp style input like(send *ri* :angle-vector (send *robot* :reset-pose))
?. I think we should test this case as a first try, because it is a much simpler case.c.f. https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/a228cc7d3bb5b26b92ed25c7d55f32a64d9d7825/pr2eus/robot-interface.l#L567-L576, RethinkRobotics/baxter_interface#72