Erratic behavior when visualizing motion plan

[emfebert]

Hi,

We're running trajopt planning through a series of waypoints, but when visualizing the trajectory we can see the robot making sudden 360 degree rotations on the base joint between several of the waypoints.

simplescreenrecorder-2023-10-31_15.41.17.mp4

This looks like an interpolation error, perhaps it's clipping angles in erroneous ways. Any ideas what could be the root cause?

Thanks a lot!

Best,
Frederik

[Levi-Armstrong]

I agree with you that it seems to be a bad seed trajectory. I recommend also saving out the trajectory returned from the simple planner within you pipeline to confirm.