Hung Pham (Phạm Tiến Hùng)

Unfortunately, I have not had the chance to revisit this problem (many have asked for it). The simplest option is to fit a spline on the output trajectory with a...

It's not possible due to the inner working of the algorithm. If you want to adjust the individual axes, you need to adjust the geometric path.

Can you check what is the discretizationType of the constraints? If its `Collocation`, switching it to `Interpolation` should resolve the problem.

> The `LinearJointAcceleration` was already set to `Interpolaton`. I set the `LinearJointVelocity` to `Interpolation` just to be sure and it did not resolve the problem. Any other thoughts? I have...

Thanks all for reporting. Hopefully we can find some resource to work on this issue next month. Really sorry for leaving this issue hanging as things have been quite hectic...

> @hungpham2511 Out of curiosity so I can better understand the algorithm, do you know of any introductory references to understanding the difference between collocation and interpolation discretizations? I think...

Hi, I had a look (finally, sorry for the long wait). The issue is due to the automatically selected number of points (100) is too small for the path you...

FYI #201 should address this issue more completely.

Hi, jerk limits are hard to handle during optimal time-parametrization. At the moment I can only suggest that you smooth the velocity profile before re-parametrize the geometric path.

It's definitely a possible approach.