Supporting ik interpolation between two positions about ikpy

[DoWhileGeek]

Sorry, accidental click on the close button. Let me think on this a bit before I respond, but those are super valid points.

[Phylliade]

Hello @DoWhileGeek !

Actually that's a very interesting feature, and certainly to be added in IKPy!

A few quick thoughts:

• I'm pretty sure i've written a simple snippet in the past, that splits a trajectory into multiple target positions. However, i'm unable to find it after a quick lookup 🤷
• IMO the main difficulty of this feature is a design constraint: To be more precise, we want to add the notion of trajectory into IKPy, which can immediately translates into a sequential list of target positions, but can also be a more abstract object (i.e. a continuous trajectory is a curve, that can also includes velocity information)
• Once we have a curve, it's easy to sample from it to get the list of targets;
• So the main issue is "How to define a curve in a simple ikpyesque ( ;) ) way?": There are many ways to define curves, but maybe choosing the right one is not so easy
• For example, with your picking robot, you want your robot to follow a certain trajectory (i.e avoiding colliding your walls), instead of going in an undefined line between your starting position and your target

What are your thoughts on this?

Especially, how would you define your trajectory in your use case?

[stale]

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