Question on Spline Parametrizer

[leonardoedgar]

Hi, on this line, may I know why the magic number 5 is used?

toppra/toppra/parametrizer.py

Line 181 in f8c55e3

delta_t = 5 # If average speed is too slow.

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)

[hungpham2511]

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?

[leonardoedgar]

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.

[hungpham2511]

I retimed the final trajectory from ParabolicSmoother

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

Do you have a reproducible example?