Matthews

Hi @mayataka , could you provide the branch link? Thanks!

Hi @hungpham2511 , I tried to add varying acceleration constraints at the beginning and the end of the path (5% length of the path interval). And I ramped the acceleration...

@hungpham2511 , I tried to modify the LinearJointAcceleration.hpp and LinearJointAcceleration.cpp to consider the varying constraints. But the topp failed to compute and returned a total duration of inf. Could it...

@hungpham2511 , also curious if we can constrain the torque rate in the planning process?

@stefanbesler Thanks for your fix. I did not record the original input. Will verify this fix after your merge.