trajectory optimization with velocities and accelerations

[lakshmip001]

When check trajectory before IPTP it gives me the end point trajectory same as end pose trajectory given by me. But when I do IPTP it gives me different end_pose than the one I defined as shown below.

header:
seq: 0
stamp: 0.000000000
frame_id:
joint_names[]
joint_names[0]: elbow_joint
joint_names[1]: shoulder_pan_joint
joint_names[2]: shoulder_lift_joint
joint_names[3]: wrist_1_joint
joint_names[4]: wrist_2_joint
joint_names[5]: wrist_3_joint
points[]
points[0]:
positions[]
positions[0]: -2.18256
positions[1]: -1.54079
positions[2]: -0.755735
positions[3]: -1.69194
positions[4]: 2.27238
positions[5]: 0.0725396
velocities[]
accelerations[]
effort[]
time_from_start: 0.000000000
points[1]:
positions[]
positions[0]: -2.1769
positions[1]: -1.53237
positions[2]: -0.790443
positions[3]: -1.71871
positions[4]: 2.2681
positions[5]: 0.0501231
velocities[]
accelerations[]
effort[]
time_from_start: 0.002500000
points[2]:
positions[]
positions[0]: -2.15059
positions[1]: -1.53749
positions[2]: -0.825152
positions[3]: -1.74547
positions[4]: 2.26382
positions[5]: 0.0277067
velocities[]
accelerations[]
effort[]
time_from_start: 0.005000000
points[3]:
positions[]
positions[0]: -2.10871
positions[1]: -1.54325
positions[2]: -0.85986
positions[3]: -1.77224
positions[4]: 2.25954
positions[5]: 0.00529046
velocities[]
accelerations[]
effort[]
time_from_start: 0.007500000
points[4]:
positions[]
positions[0]: -2.05188
positions[1]: -1.55446
positions[2]: -0.894568
positions[3]: -1.79901
positions[4]: 2.25526
positions[5]: -0.0171254
velocities[]
accelerations[]
effort[]
time_from_start: 0.010000000
points[5]:
positions[]
positions[0]: -2.00859
positions[1]: -1.56692
positions[2]: -0.929275
positions[3]: -1.82578
positions[4]: 2.25098
positions[5]: -0.0395408
velocities[]
accelerations[]
effort[]
time_from_start: 0.012500000
points[6]:
positions[]
positions[0]: -1.97456
positions[1]: -1.58973
positions[2]: -0.963981
positions[3]: -1.85254
positions[4]: 2.2467
positions[5]: -0.0619554
velocities[]
accelerations[]
effort[]
time_from_start: 0.015000000
points[7]:
positions[]
positions[0]: -1.94759
positions[1]: -1.61742
positions[2]: -0.998684
positions[3]: -1.87931
positions[4]: 2.24243
positions[5]: -0.0843686
velocities[]
accelerations[]
effort[]
time_from_start: 0.017500000
points[8]:
positions[]
positions[0]: -1.93106
positions[1]: -1.64514
positions[2]: -1.03338
positions[3]: -1.90607
positions[4]: 2.23816
positions[5]: -0.10678
velocities[]
accelerations[]
effort[]
time_from_start: 0.020000000
points[9]:
positions[]
positions[0]: -1.92332
positions[1]: -1.69668
positions[2]: -1.06806
positions[3]: -1.93282
positions[4]: 2.2339
positions[5]: -0.129188
velocities[]
accelerations[]
effort[]
time_from_start: 0.022500000
points[10]:
positions[]
positions[0]: -1.93913
positions[1]: -1.76923
positions[2]: -1.08989
positions[3]: -1.95735
positions[4]: 2.23265
positions[5]: -0.151393
velocities[]
accelerations[]
effort[]
time_from_start: 0.025000000
points[11]:
positions[]
positions[0]: -2.00065
positions[1]: -1.84568
positions[2]: -1.1024
positions[3]: -1.98024
positions[4]: 2.23372
positions[5]: -0.173611
velocities[]
accelerations[]
effort[]
time_from_start: 0.027500000
points[12]:
positions[]
positions[0]: -2.06988
positions[1]: -1.9194
positions[2]: -1.11387
positions[3]: -2.00291
positions[4]: 2.23538
positions[5]: -0.196122
velocities[]
accelerations[]
effort[]
time_from_start: 0.030000000
points[13]:
positions[]
positions[0]: -2.11844
positions[1]: -1.97972
positions[2]: -1.13908
positions[3]: -2.02744
positions[4]: 2.23384
positions[5]: -0.217844
velocities[]
accelerations[]
effort[]
time_from_start: 0.032500000
points[14]:
positions[]
positions[0]: -2.14629
positions[1]: -2.01938
positions[2]: -1.17486
positions[3]: -2.05332
positions[4]: 2.23012
positions[5]: -0.239051
velocities[]
accelerations[]
effort[]
time_from_start: 0.035000000
points[15]:
positions[]
positions[0]: -2.15176
positions[1]: -2.05335
positions[2]: -1.21068
positions[3]: -2.0792
positions[4]: 2.22639
positions[5]: -0.260251
velocities[]
accelerations[]
effort[]
time_from_start: 0.037500000
points[16]:
positions[]
positions[0]: -2.20615
positions[1]: -2.09518
positions[2]: -1.24651
positions[3]: -2.10507
positions[4]: 2.22267
positions[5]: -0.281444
velocities[]
accelerations[]
effort[]
time_from_start: 0.040000000
points[17]:
positions[]
positions[0]: -2.26449
positions[1]: -2.14745
positions[2]: -1.28234
positions[3]: -2.13094
positions[4]: 2.21894
positions[5]: -0.302629
velocities[]
accelerations[]
effort[]
time_from_start: 0.042500000
points[18]:
positions[]
positions[0]: -2.3056
positions[1]: -2.19619
positions[2]: -1.31818
positions[3]: -2.15681
positions[4]: 2.21522
positions[5]: -0.323808
velocities[]
accelerations[]
effort[]
time_from_start: 0.045000000
points[19]:
positions[]
positions[0]: -2.33306
positions[1]: -2.22366
positions[2]: -1.35403
positions[3]: -2.18267
positions[4]: 2.2115
positions[5]: -0.344974
velocities[]
accelerations[]
effort[]
time_from_start: 0.047500000
points[20]:
positions[]
positions[0]: -2.34872
positions[1]: -2.27999
positions[2]: -1.38988
positions[3]: -2.20851
positions[4]: 2.20778
positions[5]: -0.366113
velocities[]
accelerations[]
effort[]
time_from_start: 0.050000000
points[21]:
positions[]
positions[0]: -2.29107
positions[1]: -2.2383
positions[2]: -1.47024
positions[3]: -2.25903
positions[4]: 2.1896
positions[5]: -0.405909
velocities[]
accelerations[]
effort[]
time_from_start: 0.052500000
points[22]:
positions[]
positions[0]: -2.22696
positions[1]: -2.20221
positions[2]: -1.54335
positions[3]: -2.30845
positions[4]: 2.17271
positions[5]: -0.446148
velocities[]
accelerations[]
effort[]
time_from_start: 0.055000000
points[23]:
positions[]
positions[0]: -2.15706
positions[1]: -2.16698
positions[2]: -1.61368
positions[3]: -2.3464
positions[4]: 2.16144
positions[5]: -0.471062
velocities[]
accelerations[]
effort[]
time_from_start: 0.057500000
points[24]:
positions[]
positions[0]: -2.08019
positions[1]: -2.13705
positions[2]: -1.67571
positions[3]: -2.3825
positions[4]: 2.15141
positions[5]: -0.495156
velocities[]
accelerations[]
effort[]
time_from_start: 0.060000000
points[25]:
positions[]
positions[0]: -1.99716
positions[1]: -2.10913
positions[2]: -1.73021
positions[3]: -2.40679
positions[4]: 2.13995
positions[5]: -0.503484
velocities[]
accelerations[]
effort[]
time_from_start: 0.062500000
points[26]:
positions[]
positions[0]: -1.90774
positions[1]: -2.08641
positions[2]: -1.77521
positions[3]: -2.42902
positions[4]: 2.13182
positions[5]: -0.509776
velocities[]
accelerations[]
effort[]
time_from_start: 0.065000000
points[27]:
positions[]
positions[0]: -1.8136
positions[1]: -2.06621
positions[2]: -1.81255
positions[3]: -2.44373
positions[4]: 2.13284
positions[5]: -0.507304
velocities[]
accelerations[]
effort[]
time_from_start: 0.067500000
points[28]:
positions[]
positions[0]: -1.71447
positions[1]: -2.05371
positions[2]: -1.83671
positions[3]: -2.45809
positions[4]: 2.13186
positions[5]: -0.506991
velocities[]
accelerations[]
effort[]
time_from_start: 0.070000000
points[29]:
positions[]
positions[0]: -1.61271
positions[1]: -2.04671
positions[2]: -1.84989
positions[3]: -2.46694
positions[4]: 2.13533
positions[5]: -0.505623
velocities[]
accelerations[]
effort[]
time_from_start: 0.072500000
points[30]:
positions[]
positions[0]: -1.51053
positions[1]: -2.04499
positions[2]: -1.8521
positions[3]: -2.47094
positions[4]: 2.14451
positions[5]: -0.501886
velocities[]
accelerations[]
effort[]
time_from_start: 0.075000000
points[31]:
positions[]
positions[0]: -1.41009
positions[1]: -2.04814
positions[2]: -1.84378
positions[3]: -2.46854
positions[4]: 2.15999
positions[5]: -0.495408
velocities[]
accelerations[]
effort[]
time_from_start: 0.077500000
points[32]:
positions[]
positions[0]: -1.31313
positions[1]: -2.05678
positions[2]: -1.82478
positions[3]: -2.46175
positions[4]: 2.18063
positions[5]: -0.487174
velocities[]
accelerations[]
effort[]
time_from_start: 0.080000000
points[33]:
positions[]
positions[0]: -1.22152
positions[1]: -2.06938
positions[2]: -1.79523
positions[3]: -2.44615
positions[4]: 2.20125
positions[5]: -0.467661
velocities[]
accelerations[]
effort[]
time_from_start: 0.082500000
points[34]:
positions[]
positions[0]: -1.13618
positions[1]: -2.08624
positions[2]: -1.75703
positions[3]: -2.42725
positions[4]: 2.22745
positions[5]: -0.441323
velocities[]
accelerations[]
effort[]
time_from_start: 0.085000000
points[35]:
positions[]
positions[0]: -1.0568
positions[1]: -2.11023
positions[2]: -1.70858
positions[3]: -2.4074
positions[4]: 2.25354
positions[5]: -0.418882
velocities[]
accelerations[]
effort[]
time_from_start: 0.087500000
points[36]:
positions[]
positions[0]: -0.983712
positions[1]: -2.14085
positions[2]: -1.6506
positions[3]: -2.38645
positions[4]: 2.27989
positions[5]: -0.400254
velocities[]
accelerations[]
effort[]
time_from_start: 0.090000000
points[37]:
positions[]
positions[0]: -0.917012
positions[1]: -2.17707
positions[2]: -1.58415
positions[3]: -2.36432
positions[4]: 2.30801
positions[5]: -0.382865
velocities[]
accelerations[]
effort[]
time_from_start: 0.092500000
points[38]:
positions[]
positions[0]: -0.856486
positions[1]: -2.21803
positions[2]: -1.51026
positions[3]: -2.34132
positions[4]: 2.33963
positions[5]: -0.364282
velocities[]
accelerations[]
effort[]
time_from_start: 0.095000000
points[39]:
positions[]
positions[0]: -0.801685
positions[1]: -2.26316
positions[2]: -1.4297
positions[3]: -2.31747
positions[4]: 2.37597
positions[5]: -0.342339
velocities[]
accelerations[]
effort[]
time_from_start: 0.097500000
calculating vel and acc using iptp
robot trajectory is created
robot trajectory message
iptp
vel & acc addjoint_trajectory:
header:
seq: 0
stamp: 0.000000000
frame_id: /world
joint_names[]
joint_names[0]: shoulder_pan_joint
joint_names[1]: shoulder_lift_joint
joint_names[2]: elbow_joint
joint_names[3]: wrist_1_joint
joint_names[4]: wrist_2_joint
joint_names[5]: wrist_3_joint
points[]
points[0]:
positions[]
positions[0]: -1.54079
positions[1]: -0.755735
positions[2]: -2.18256
positions[3]: -1.69194
positions[4]: 2.27238
positions[5]: 0.0725396
velocities[]
velocities[0]: 0
velocities[1]: 0
velocities[2]: 0
velocities[3]: 0
velocities[4]: 0
velocities[5]: 0
accelerations[]
accelerations[0]: 0.738805
accelerations[1]: 0
accelerations[2]: 0
accelerations[3]: 0
accelerations[4]: 0
accelerations[5]: 0
effort[]
time_from_start: 0.000000000
points[1]:
positions[]
positions[0]: -1.53237
positions[1]: -0.790443
positions[2]: -2.1769
positions[3]: -1.71871
positions[4]: 2.2681
positions[5]: 0.0501231
velocities[]
velocities[0]: -0.000785997
velocities[1]: -0.309117
velocities[2]: 0.16596
velocities[3]: -0.238404
velocities[4]: -0.0381192
velocities[5]: -0.199644
accelerations[]
accelerations[0]: -0.941388
accelerations[1]: -1.31938
accelerations[2]: 2.13809
accelerations[3]: -1.01756
accelerations[4]: -0.162696
accelerations[5]: -0.852124
effort[]
time_from_start: 0.151018550
points[2]:
positions[]
positions[0]: -1.53749
positions[1]: -0.825152
positions[2]: -2.15059
positions[3]: -1.74547
positions[4]: 2.26382
positions[5]: 0.0277067
velocities[]
velocities[0]: -0.0663742
velocities[1]: -0.421455
velocities[2]: 0.421408
velocities[3]: -0.325043
velocities[4]: -0.0519709
velocities[5]: -0.272197
accelerations[]
accelerations[0]: -0.217601
accelerations[1]: -0.797705
accelerations[2]: 3.06434
accelerations[3]: -0.615214
accelerations[4]: -0.0983412
accelerations[5]: -0.515188
effort[]
time_from_start: 0.240379693
points[3]:
positions[]
positions[0]: -1.54325
positions[1]: -0.85986
positions[2]: -2.10871
positions[3]: -1.77224
positions[4]: 2.25954
positions[5]: 0.00529046
velocities[]
velocities[0]: -0.113746
velocities[1]: -0.462728
velocities[2]: 0.659754
velocities[3]: -0.356873
velocities[4]: -0.057057
velocities[5]: -0.298852
accelerations[]
accelerations[0]: -1.02242
accelerations[1]: -0.219172
accelerations[2]: 2.96907
accelerations[3]: -0.169015
accelerations[4]: -0.026968
accelerations[5]: -0.141531
effort[]
time_from_start: 0.316744352
points[4]:
positions[]
positions[0]: -1.55446
positions[1]: -0.894568
positions[2]: -2.05188
positions[3]: -1.79901
positions[4]: 2.25526
positions[5]: -0.0171254
velocities[]
velocities[0]: -0.17693
velocities[1]: -0.516391
velocities[2]: 0.735934
velocities[3]: -0.398258
velocities[4]: -0.0636671
velocities[5]: -0.333508
accelerations[]
accelerations[0]: -0.733045
accelerations[1]: -1.34168
accelerations[2]: -1.0395
accelerations[3]: -1.03472
accelerations[4]: -0.165299
accelerations[5]: -0.86649
effort[]
time_from_start: 0.390441770
points[5]:
positions[]
positions[0]: -1.56692
positions[1]: -0.929275
positions[2]: -2.00859
positions[3]: -1.82578
positions[4]: 2.25098
positions[5]: -0.0395408
velocities[]
velocities[0]: -0.270826
velocities[1]: -0.539474
velocities[2]: 0.603898
velocities[3]: -0.416058
velocities[4]: -0.0665017
velocities[5]: -0.348415
accelerations[]
accelerations[0]: -2.14354
accelerations[1]: 0.693834
accelerations[2]: -3.00505
accelerations[3]: 0.535148
accelerations[4]: 0.0857718
accelerations[5]: 0.448114
effort[]
time_from_start: 0.452216911
points[6]:
positions[]
positions[0]: -1.58973
positions[1]: -0.963981
positions[2]: -1.97456
positions[3]: -1.85254
positions[4]: 2.2467
positions[5]: -0.0619554
velocities[]
velocities[0]: -0.395742
velocities[1]: -0.541589
velocities[2]: 0.473528
velocities[3]: -0.417687
velocities[4]: -0.0667378
velocities[5]: -0.349784
accelerations[]
accelerations[0]: -1.73946
accelerations[1]: -0.762237
accelerations[2]: -1.04468
accelerations[3]: -0.587824
accelerations[4]: -0.09344
accelerations[5]: -0.4924
effort[]
time_from_start: 0.519331226
points[7]:
positions[]
positions[0]: -1.61742
positions[1]: -0.998684
positions[2]: -1.94759
positions[3]: -1.87931
positions[4]: 2.24243
positions[5]: -0.0843686
velocities[]
velocities[0]: -0.429829
velocities[1]: -0.53841
velocities[2]: 0.341625
velocities[3]: -0.415232
velocities[4]: -0.066299
velocities[5]: -0.347748
accelerations[]
accelerations[0]: 0.673454
accelerations[1]: 0.855797
accelerations[2]: -3.04439
accelerations[3]: 0.660089
accelerations[4]: 0.106429
accelerations[5]: 0.552304
effort[]
time_from_start: 0.580637922
points[8]:
positions[]
positions[0]: -1.64514
positions[1]: -1.03338
positions[2]: -1.93106
positions[3]: -1.90607
positions[4]: 2.23816
positions[5]: -0.10678
velocities[]
velocities[0]: -0.478699
velocities[1]: -0.440197
velocities[2]: 0.162894
velocities[3]: -0.339492
velocities[4]: -0.0541229
velocities[5]: -0.284367
accelerations[]
accelerations[0]: -1.74655
accelerations[1]: 1.74488
accelerations[2]: -1.98733
accelerations[3]: 1.34553
accelerations[4]: 0.216061
accelerations[5]: 1.12601
effort[]
time_from_start: 0.648571163
points[9]:
positions[]
positions[0]: -1.69668
positions[1]: -1.06806
positions[2]: -1.92332
positions[3]: -1.93282
positions[4]: 2.2339
positions[5]: -0.129188
velocities[]
velocities[0]: -0.547318
velocities[1]: -0.266833
velocities[2]: -0.0181653
velocities[3]: -0.234753
velocities[4]: -0.0274087
velocities[5]: -0.202866
accelerations[]
accelerations[0]: 0.0354566
accelerations[1]: 1.81256
accelerations[2]: -1.77535
accelerations[3]: 0.887329
accelerations[4]: 0.316958
accelerations[5]: 0.634124
effort[]
time_from_start: 0.742396177
points[10]:
positions[]
positions[0]: -1.76923
positions[1]: -1.08989
positions[2]: -1.93913
positions[3]: -1.95735
positions[4]: 2.23265
positions[5]: -0.151393
velocities[]
velocities[0]: -0.58971
velocities[1]: -0.13391
velocities[2]: -0.314548
velocities[3]: -0.187149
velocities[4]: -0.000269961
velocities[5]: -0.17559
accelerations[]
accelerations[0]: -0.700344
accelerations[1]: 0.475076
accelerations[2]: -3.08651
accelerations[3]: -0.0429369
accelerations[4]: 0.144507
accelerations[5]: -0.13705
effort[]
time_from_start: 0.875437757
points[11]:
positions[]
positions[0]: -1.84568
positions[1]: -1.1024
positions[2]: -2.00065
positions[3]: -1.98024
positions[4]: 2.23372
positions[5]: -0.173611
velocities[]
velocities[0]: -0.747419
velocities[1]: -0.11883
velocities[2]: -0.659285
velocities[3]: -0.227225
velocities[4]: 0.0141203
velocities[5]: -0.223547
accelerations[]
accelerations[0]: -2.1978
accelerations[1]: -0.291753
accelerations[2]: -2.89105
accelerations[3]: -0.724548
accelerations[4]: 0.101413
accelerations[5]: -0.761667
effort[]
time_from_start: 0.996003442
points[12]:
positions[]
positions[0]: -1.9194
positions[1]: -1.11387
positions[2]: -2.06988
positions[3]: -2.00291
positions[4]: 2.23538
positions[5]: -0.196122
velocities[]
velocities[0]: -0.767372
velocities[1]: -0.207799
velocities[2]: -0.675475
velocities[3]: -0.269389
velocities[4]: 0.00110894
velocities[5]: -0.25277
accelerations[]
accelerations[0]: 2.13202
accelerations[1]: -1.68836
accelerations[2]: 3.0342
accelerations[3]: -0.109865
accelerations[4]: -0.416559
accelerations[5]: 0.229382
effort[]
time_from_start: 1.081655739
points[13]:
positions[]
positions[0]: -1.97972
positions[1]: -1.13908
positions[2]: -2.11844
positions[3]: -2.02744
positions[4]: 2.23384
positions[5]: -0.217844
velocities[]
velocities[0]: -0.584582
velocities[1]: -0.364274
velocities[2]: -0.445128
velocities[3]: -0.298647
velocities[4]: -0.0318174
velocities[5]: -0.253759
accelerations[]
accelerations[0]: 2.10955
accelerations[1]: -1.94706
accelerations[2]: 2.29951
accelerations[3]: -0.576649
accelerations[4]: -0.346419
accelerations[5]: -0.260218
effort[]
time_from_start: 1.171149169
points[14]:
positions[]
positions[0]: -2.01938
positions[1]: -1.17486
positions[2]: -2.14629
positions[3]: -2.05332
positions[4]: 2.23012
positions[5]: -0.239051
velocities[]
velocities[0]: -0.360595
velocities[1]: -0.342569
velocities[2]: -0.192025
velocities[3]: -0.247635
velocities[4]: -0.0356453
velocities[5]: -0.202928
accelerations[]
accelerations[0]: 2.33624
accelerations[1]: 1.81015
accelerations[2]: 2.70194
accelerations[3]: 1.31022
accelerations[4]: 0.188544
accelerations[5]: 1.07413
effort[]
time_from_start: 1.251239153
points[15]:
positions[]
positions[0]: -2.05335
positions[1]: -1.21068
positions[2]: -2.15176
positions[3]: -2.0792
positions[4]: 2.22639
positions[5]: -0.260251
velocities[]
velocities[0]: -0.289166
velocities[1]: -0.270023
velocities[2]: -0.247238
velocities[3]: -0.195038
velocities[4]: -0.0280789
velocities[5]: -0.159775
accelerations[]
accelerations[0]: -0.938546
accelerations[1]: -0.471436
accelerations[2]: -3.1347
accelerations[3]: -0.339948
accelerations[4]: -0.0489543
accelerations[5]: -0.278185
effort[]
time_from_start: 1.401521961
points[16]:
positions[]
positions[0]: -2.09518
positions[1]: -1.24651
positions[2]: -2.20615
positions[3]: -2.10507
positions[4]: 2.22267
positions[5]: -0.281444
velocities[]
velocities[0]: -0.481513
velocities[1]: -0.360218
velocities[2]: -0.569846
velocities[3]: -0.260089
velocities[4]: -0.037446
velocities[5]: -0.213004
accelerations[]
accelerations[0]: -2.52976
accelerations[1]: -1.14498
accelerations[2]: -2.18828
accelerations[3]: -0.825878
accelerations[4]: -0.118919
accelerations[5]: -0.67577
effort[]
time_from_start: 1.520261368
points[17]:
positions[]
positions[0]: -2.14745
positions[1]: -1.28234
positions[2]: -2.26449
positions[3]: -2.13094
positions[4]: 2.21894
positions[5]: -0.302629
velocities[]
velocities[0]: -0.540489
velocities[1]: -0.382257
velocities[2]: -0.539124
velocities[3]: -0.275919
velocities[4]: -0.0397245
velocities[5]: -0.225931
accelerations[]
accelerations[0]: 1.4849
accelerations[1]: 0.770448
accelerations[2]: 3.0122
accelerations[3]: 0.55713
accelerations[4]: 0.0802393
accelerations[5]: 0.456431
effort[]
time_from_start: 1.605849851
points[18]:
positions[]
positions[0]: -2.19619
positions[1]: -1.31818
positions[2]: -2.3056
positions[3]: -2.15681
positions[4]: 2.21522
positions[5]: -0.323808
velocities[]
velocities[0]: -0.400637
velocities[1]: -0.388904
velocities[2]: -0.363785
velocities[3]: -0.280589
velocities[4]: -0.0403896
velocities[5]: -0.229703
accelerations[]
accelerations[0]: 1.49179
accelerations[1]: -0.923688
accelerations[2]: 0.703752
accelerations[3]: -0.664996
accelerations[4]: -0.0956151
accelerations[5]: -0.543665
effort[]
time_from_start: 1.709497113
points[19]:
positions[]
positions[0]: -2.22366
positions[1]: -1.35403
positions[2]: -2.33306
positions[3]: -2.18267
positions[4]: 2.2115
positions[5]: -0.344974
velocities[]
velocities[0]: -0.323834
velocities[1]: -0.316778
velocities[2]: -0.209489
velocities[3]: -0.228442
velocities[4]: -0.0328661
velocities[5]: -0.186952
accelerations[]
accelerations[0]: 0.110416
accelerations[1]: 1.7668
accelerations[2]: 1.86246
accelerations[3]: 1.27538
accelerations[4]: 0.183771
accelerations[5]: 1.0445
effort[]
time_from_start: 1.792478093
points[20]:
positions[]
positions[0]: -2.27999
positions[1]: -1.38988
positions[2]: -2.34872
positions[3]: -2.20851
positions[4]: 2.20778
positions[5]: -0.366113
velocities[]
velocities[0]: -0.0402837
velocities[1]: -0.328309
velocities[2]: 0.119227
velocities[3]: -0.215693
velocities[4]: -0.061939
velocities[5]: -0.172101
accelerations[]
accelerations[0]: 3.11851
accelerations[1]: -1.43037
accelerations[2]: 2.33881
accelerations[3]: -0.794727
accelerations[4]: -0.463321
accelerations[5]: -0.601093
effort[]
time_from_start: 1.970358354
points[21]:
positions[]
positions[0]: -2.2383
positions[1]: -1.47024
positions[2]: -2.29107
positions[3]: -2.25903
positions[4]: 2.1896
positions[5]: -0.405909
velocities[]
velocities[0]: 0.322976
velocities[1]: -0.642692
velocities[2]: 0.527281
velocities[3]: -0.423702
velocities[4]: -0.147396
velocities[5]: -0.341203
accelerations[]
accelerations[0]: 1.3137
accelerations[1]: -2.83615
accelerations[2]: 3.0352
accelerations[3]: -2.07967
accelerations[4]: -0.671133
accelerations[5]: -1.75093
effort[]
time_from_start: 2.146941595
points[22]:
positions[]
positions[0]: -2.20221
positions[1]: -1.54335
positions[2]: -2.22696
positions[3]: -2.30845
positions[4]: 2.17271
positions[5]: -0.446148
velocities[]
velocities[0]: 0.448463
velocities[1]: -0.90135
velocities[2]: 0.847256
velocities[3]: -0.542968
velocities[4]: -0.173774
velocities[5]: -0.400736
accelerations[]
accelerations[0]: 0.962144
accelerations[1]: -1.77153
accelerations[2]: 2.97241
accelerations[3]: 0.456851
accelerations[4]: 0.449488
accelerations[5]: 1.40424
effort[]
time_from_start: 2.234984413
points[23]:
positions[]
positions[0]: -2.16698
positions[1]: -1.61368
positions[2]: -2.15706
positions[3]: -2.3464
positions[4]: 2.16144
positions[5]: -0.471062
velocities[]
velocities[0]: 0.45386
velocities[1]: -0.922049
velocities[2]: 1.02337
velocities[3]: -0.516014
velocities[4]: -0.148377
velocities[5]: -0.34153
accelerations[]
accelerations[0]: -0.924939
accelerations[1]: 1.40306
accelerations[2]: 1.58736
accelerations[3]: 0.240756
accelerations[4]: 0.205591
accelerations[5]: 0.0809279
effort[]
time_from_start: 2.307319277
points[24]:
positions[]
positions[0]: -2.13705
positions[1]: -1.67571
positions[2]: -2.08019
positions[3]: -2.3825
positions[4]: 2.15141
positions[5]: -0.495156
velocities[]
velocities[0]: 0.406693
velocities[1]: -0.819083
velocities[2]: 1.12396
velocities[3]: -0.424478
velocities[4]: -0.151114
velocities[5]: -0.227869
accelerations[]
accelerations[0]: -0.393316
accelerations[1]: 1.47998
accelerations[2]: 1.22722
accelerations[3]: 2.33091
accelerations[4]: -0.284308
accelerations[5]: 3.11421
effort[]
time_from_start: 2.378470481
points[25]:
positions[]
positions[0]: -2.10913
positions[1]: -1.73021
positions[2]: -1.99716
positions[3]: -2.40679
positions[4]: 2.13995
positions[5]: -0.503484
velocities[]
velocities[0]: 0.368992
velocities[1]: -0.725241
velocities[2]: 1.26339
velocities[3]: -0.339782
velocities[4]: -0.142347
velocities[5]: -0.106374
accelerations[]
accelerations[0]: -0.692836
accelerations[1]: 1.20397
accelerations[2]: 2.79856
accelerations[3]: 0.0524807
accelerations[4]: 0.551606
accelerations[5]: 0.313716
effort[]
time_from_start: 2.449580946
points[26]:
positions[]
positions[0]: -2.08641
positions[1]: -1.77521
positions[2]: -1.90774
positions[3]: -2.42902
positions[4]: 2.13182
positions[5]: -0.509776
velocities[]
velocities[0]: 0.317157
velocities[1]: -0.609149
velocities[2]: 1.3531
velocities[3]: -0.274226
velocities[4]: -0.0544344
velocities[5]: -0.0301344
accelerations[]
accelerations[0]: -0.829111
accelerations[1]: 2.20776
accelerations[2]: -0.178933
accelerations[3]: 1.87978
accelerations[4]: 2.03524
accelerations[5]: 1.93114
effort[]
time_from_start: 2.515372123
points[27]:
positions[]
positions[0]: -2.06621
positions[1]: -1.81255
positions[2]: -1.8136
positions[3]: -2.44373
positions[4]: 2.13284
positions[5]: -0.507304
velocities[]
velocities[0]: 0.241471
velocities[1]: -0.454508
velocities[2]: 1.44248
velocities[3]: -0.216573
velocities[4]: -0.00035155
velocities[5]: 0.0201156
accelerations[]
accelerations[0]: -1.41613
accelerations[1]: 2.37465
accelerations[2]: 2.84186
accelerations[3]: -0.181831
accelerations[4]: -0.445131
accelerations[5]: -0.454129
effort[]
time_from_start: 2.585256967
points[28]:
positions[]
positions[0]: -2.05371
positions[1]: -1.83671
positions[2]: -1.71447
positions[3]: -2.45809
positions[4]: 2.13186
positions[5]: -0.506991
velocities[]
velocities[0]: 0.151587
velocities[1]: -0.290324
velocities[2]: 1.56332
velocities[3]: -0.180438
velocities[4]: 0.0194655
velocities[5]: 0.0131059
accelerations[]
accelerations[0]: -1.31728
accelerations[1]: 2.62784
accelerations[2]: 0.790357
accelerations[3]: 1.31478
accelerations[4]: 1.08214
accelerations[5]: 0.256562
effort[]
time_from_start: 2.649717584
points[29]:
positions[]
positions[0]: -2.04671
positions[1]: -1.84989
positions[2]: -1.61271
positions[3]: -2.46694
positions[4]: 2.13533
positions[5]: -0.505623
velocities[]
velocities[0]: 0.0693692
velocities[1]: -0.121791
velocities[2]: 1.66762
velocities[3]: -0.103338
velocities[4]: 0.105586
velocities[5]: 0.0426139
accelerations[]
accelerations[0]: -1.30212
accelerations[1]: 2.74508
accelerations[2]: 2.57547
accelerations[3]: 1.1377
accelerations[4]: 1.67609
accelerations[5]: 0.69406
effort[]
time_from_start: 2.713770214
points[30]:
positions[]
positions[0]: -2.04499
positions[1]: -1.8521
positions[2]: -1.51053
positions[3]: -2.47094
positions[4]: 2.14451
positions[5]: -0.501886
velocities[]
velocities[0]: -0.0112416
velocities[1]: 0.0496515
velocities[2]: 1.70049
velocities[3]: -0.0144425
velocities[4]: 0.205956
velocities[5]: 0.0852943
accelerations[]
accelerations[0]: -1.36617
accelerations[1]: 2.93052
accelerations[2]: -1.54493
accelerations[3]: 1.81321
accelerations[4]: 1.64473
accelerations[5]: 0.718574
effort[]
time_from_start: 2.772272175
points[31]:
positions[]
positions[0]: -2.04814
positions[1]: -1.84378
positions[2]: -1.41009
positions[3]: -2.46854
positions[4]: 2.15999
positions[5]: -0.495408
velocities[]
velocities[0]: -0.091605
velocities[1]: 0.212854
velocities[2]: 1.56381
velocities[3]: 0.0714129
velocities[4]: 0.284272
velocities[5]: 0.11591
accelerations[]
accelerations[0]: -1.25344
accelerations[1]: 2.39842
accelerations[2]: -2.86551
accelerations[3]: 1.00588
accelerations[4]: 0.92625
accelerations[5]: 0.290861
effort[]
time_from_start: 2.832980543
points[32]:
positions[]
positions[0]: -2.05678
positions[1]: -1.82478
positions[2]: -1.31313
positions[3]: -2.46175
positions[4]: 2.18063
positions[5]: -0.487174
velocities[]
velocities[0]: -0.153244
velocities[1]: 0.349877
velocities[2]: 1.3737
velocities[3]: 0.160105
velocities[4]: 0.300161
velocities[5]: 0.198244
accelerations[]
accelerations[0]: -0.638716
accelerations[1]: 1.77636
accelerations[2]: -2.8891
accelerations[3]: 1.65194
accelerations[4]: -0.389465
accelerations[5]: 2.12418
effort[]
time_from_start: 2.898797285
points[33]:
positions[]
positions[0]: -2.06938
positions[1]: -1.79523
positions[2]: -1.22152
positions[3]: -2.44615
positions[4]: 2.20125
positions[5]: -0.467661
velocities[]
velocities[0]: -0.192359
velocities[1]: 0.442783
velocities[2]: 1.16722
velocities[3]: 0.225866
velocities[4]: 0.306183
velocities[5]: 0.299306
accelerations[]
accelerations[0]: -0.449512
accelerations[1]: 0.833331
accelerations[2]: -2.80875
accelerations[3]: 0.233239
accelerations[4]: 0.510044
accelerations[5]: 0.733065
effort[]
time_from_start: 2.970697554
points[34]:
positions[]
positions[0]: -2.08624
positions[1]: -1.75703
positions[2]: -1.13618
positions[3]: -2.42725
positions[4]: 2.22745
positions[5]: -0.441323
velocities[]
velocities[0]: -0.27762
velocities[1]: 0.586342
velocities[2]: 1.10204
velocities[3]: 0.2604
velocities[4]: 0.350746
velocities[5]: 0.325307
accelerations[]
accelerations[0]: -1.8184
accelerations[1]: 2.98398
accelerations[2]: 1.11619
accelerations[3]: 0.684501
accelerations[4]: 0.670705
accelerations[5]: -0.0514086
effort[]
time_from_start: 3.051184512
points[35]:
positions[]
positions[0]: -2.11023
positions[1]: -1.70858
positions[2]: -1.0568
positions[3]: -2.4074
positions[4]: 2.25354
positions[5]: -0.418882
velocities[]
velocities[0]: -0.397365
velocities[1]: 0.774188
velocities[2]: 1.10779
velocities[3]: 0.296644
velocities[4]: 0.381144
velocities[5]: 0.298261
accelerations[]
accelerations[0]: -1.5003
accelerations[1]: 2.2104
accelerations[2]: -1.04891
accelerations[3]: 0.308024
accelerations[4]: 0.153087
accelerations[5]: -0.730235
effort[]
time_from_start: 3.120579285
points[36]:
positions[]
positions[0]: -2.14085
positions[1]: -1.6506
positions[2]: -0.983712
positions[3]: -2.38645
positions[4]: 2.27989
positions[5]: -0.400254
velocities[]
velocities[0]: -0.46452
velocities[1]: 0.865505
velocities[2]: 0.977938
velocities[3]: 0.300258
velocities[4]: 0.379604
velocities[5]: 0.251826
accelerations[]
accelerations[0]: -0.432949
accelerations[1]: 0.425561
accelerations[2]: -2.61118
accelerations[3]: -0.194426
accelerations[4]: -0.189535
accelerations[5]: -0.593594
effort[]
time_from_start: 3.188780105
points[37]:
positions[]
positions[0]: -2.17707
positions[1]: -1.58415
positions[2]: -0.917012
positions[3]: -2.36432
positions[4]: 2.30801
positions[5]: -0.382865
velocities[]
velocities[0]: -0.451424
velocities[1]: 0.821732
velocities[2]: 0.754451
velocities[3]: 0.265344
velocities[4]: 0.34957
velocities[5]: 0.211158
accelerations[]
accelerations[0]: 0.664875
accelerations[1]: -1.37081
accelerations[2]: -3.01116
accelerations[3]: -0.648392
accelerations[4]: -0.539167
accelerations[5]: -0.449227
effort[]
time_from_start: 3.264217615
points[38]:
positions[]
positions[0]: -2.21803
positions[1]: -1.51026
positions[2]: -0.856486
positions[3]: -2.34132
positions[4]: 2.33963
positions[5]: -0.364282
velocities[]
velocities[0]: -0.308967
velocities[1]: 0.55553
velocities[2]: 0.43085
velocities[3]: 0.170269
velocities[4]: 0.241734
velocities[5]: 0.143345
accelerations[]
accelerations[0]: 1.38739
accelerations[1]: -2.52511
accelerations[2]: -2.36337
accelerations[3]: -0.818454
accelerations[4]: -1.03137
accelerations[5]: -0.590723
effort[]
time_from_start: 3.361100671
points[39]:
positions[]
positions[0]: -2.26316
positions[1]: -1.4297
positions[2]: -0.801685
positions[3]: -2.31747
positions[4]: 2.37597
positions[5]: -0.342339
velocities[]
velocities[0]: 0
velocities[1]: 0
velocities[2]: 0
velocities[3]: 0
velocities[4]: 0
velocities[5]: 0
accelerations[]
accelerations[0]: 1.68776
accelerations[1]: -3.01295
accelerations[2]: -2.04942
accelerations[3]: -0.891884
accelerations[4]: -1.35888
accelerations[5]: -0.820605
effort[]
time_from_start: 3.592357368
The end pose with velocities and accelerations is different from the end pose of the trajectory.

[mpowelson]

So the issue is that after you run IPTP, the trajectory you optimized with trajopt is kinematically different than than the one you started with? What IPTP algorithm are you running? The one in moveit?

[lakshmip001]

Yeah I understood my problem. Joints are in a different order for the trajectory before and after the IPTP of moveit.

[lakshmip001]

Actually I am able solve the position problem but when it comes to angle I am unable to solve . I kept my angle constant but still angle keeps changing and robot doesn't move in a straight line when start and end pose are on a straight line.How can I achieve straight line motion constrainting cartesian Velocity