Motion Planning with non-threaded child scripts

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lari.casteluci
Posts: 8
Joined: 29 Sep 2016, 20:23

Motion Planning with non-threaded child scripts

Postby lari.casteluci » 13 Apr 2017, 18:49

Hello,
I have implemented a motion planning algorithm in a non-threaded child script of my robot. However, I am using simSetJointTargetPosition to move through each point of my path and the robot is not being able perform nicely this way. In other words, is there a way for me to obtain a smoother movement for my robot using the path I have obtained? (changing to a threaded script is not viable)
Thanks

coppelia
Site Admin
Posts: 6127
Joined: 14 Dec 2012, 00:25

Re: Motion Planning with non-threaded child scripts

Postby coppelia » 18 Apr 2017, 08:06

Hello,

yes, but from a non-threaded child script it is a bit more troublesome: given a set of waypoints, you will have to set a new joint target position in each simulation step, by correctly interpolating between the different waypoints. At the same time it is probably a good idea to take into account the current position of the robot, since you are dealing with a dynamic simulation.

Cheers


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