II.
LibraryProcess overview
Reference · livelib-process:robotics-simulation--trajectory-optimization
specializations/robotics-simulation/trajectory-optimization overview
Trajectory Optimization - Implement trajectory optimization for smooth and efficient robot motion including cost function design, constraint formulation, solver implementation, and feasibility validation.
Attributes
displayName
specializations/robotics-simulation/trajectory-optimization
description
Trajectory Optimization - Implement trajectory optimization for smooth and efficient robot
motion including cost function design, constraint formulation, solver implementation, and feasibility
validation.
libraryPath
library/specializations/robotics-simulation/trajectory-optimization.js
specialization
robotics-simulation
references
- - TrajOpt: http://rll.berkeley.edu/trajopt/
- - CHOMP: https://github.com/ros-planning/moveit/tree/master/moveit_planners/chomp
- - STOMP: https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html
example
const result = await orchestrate('specializations/robotics-simulation/trajectory-optimization', {
robotName: 'robot_arm',
optimizationType: 'time-optimal',
constraints: ['velocity', 'acceleration', 'jerk', 'collision']
});
usesAgents
- control-engineer
- motion-planning-expert
- simulation-test-engineer
Outgoing edges
lib_applies_to_domain1
- domain:robotics·DomainRobotics
lib_belongs_to_specialization1
- specialization:robotics-simulation·Specialization
lib_implements_workflow1
- workflow:simulation-validation-cycle·WorkflowSimulation Validation Cycle
lib_involves_role1
- role:research-engineer·RoleResearch Engineer
lib_requires_skill_area2
- skill-area:motion-planning·SkillAreaMotion Planning
- skill-area:sensor-fusion·SkillAreaSensor Fusion
uses_agent1
- lib-agent:robotics-simulation--motion-planning-expert·LibraryAgentMotion Planning Expert Agent
Incoming edges
None.