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Published 20 hours ago • verified publisher icon hungpham2511

Question on Spline Parametrizer

Open leonardoedgar opened this issue 2 years ago • 3 comments

Hi, on this line, may I know why the magic number 5 is used? https://github.com/hungpham2511/toppra/blob/f8c55e376e40e3f2d5eac0b75d6b82603fe74be6/toppra/parametrizer.py#L181

I understand that delta_t will be set to that value when sdot is very small but is there any specific reason why 5 is chosen? Could the magic number be 2, 3, or 4 as well? If there are no implications by selecting lower number, it might improve the final trajectory duration (e.g. selecting 4 can reduce the final trajectory duration by 1 sec)

leonardoedgar avatar Feb 23 '23 09:02 leonardoedgar

Hi you shouldn't hit this line in most cases. When you do there is most likely an issue.

Can you provide more information on when do you have this?

hungpham2511 avatar Feb 27 '23 06:02 hungpham2511

Hi Hung, actually I had this issue quite frequently when I retimed the final trajectory from ParabolicSmoother. I replicated your pick-and-place scenario in one of your papers. The difference is the suction cup model and the objects' dimensions and weights.

leonardoedgar avatar Feb 27 '23 06:02 leonardoedgar

I retimed the final trajectory from ParabolicSmoother

Ah yes, I did have some issue with the ParabolicSmoother before.

Do you have a reproducible example?

hungpham2511 avatar Mar 02 '23 01:03 hungpham2511