Stretch Body's position control uses a trapezoidal motion profile to track position goals. The API allows the user to optionally specify the velocity and acceleration that the profile should use:
- https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/base.py#L141
- https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/prismatic_joint.py#L347
It would benefit sim-to-real transfer to use the same motion profile interface used by the real robot. Additionally, to provide similar control API as Stretch Body.
Stretch Body's position control uses a trapezoidal motion profile to track position goals. The API allows the user to optionally specify the velocity and acceleration that the profile should use:
It would benefit sim-to-real transfer to use the same motion profile interface used by the real robot. Additionally, to provide similar control API as Stretch Body.