path_to_trajectory violates joint limits

[fishbotics]

Hi,

This is more of a question than an issue. I am planning a trajectory within joint limits and then I use the path_to_trajectory function to resample the trajectory with constant velocity. But in doing this, the resulting trajectory often seems to violate the joint limits. I'm assuming this has something to do with the spline smoothing.

Do you have any suggestions on how to get around this issue? If I just clamp the trajectory at the joint limits, that can also have some peculiar outcomes.

Thanks!

[krishauser]

By default there is spline smoothing, but this should be avoiding overshoot. Can you attach a minimal trajectory file that reproduces the problem? (e.g., klampt.io.loader.save(path,'Configs',filename) or replace 'Configs' with 'auto' if you're using a Trajectory)