Allow for initial/Final Velocity for Start/End Pose of Trajectories

[Tan560]

We would like the ability to have a starting or ending velocity defined for the start or final poses of the trajectories

[calcmogul]

Do you have a use case that's not sufficiently addressed by the max velocity constraint?

[Tan560]

Yes, we want to chain together paths and our other drive commands. Specifically this year we have a drive over bump command, which ends with a velocity of 1 mps. So we want to transition into a path with the starting velocity of 1 mps so we don't need to come to complete stop from one command/path to another.

[calcmogul]

I'm not sure we planned on doing another release for 2026. In the meantime, have you confirmed disabling the stop point and applying a max velocity constraint doesn't do what you need? Since Choreo's trajectories are minimum-time, the solver prefers higher velocities in general, and the velocity inequality constraint may act like an equality constraint in practice since the optimal trajectory may be at the constraint boundary.

[Tan560]

I just tried it and it didn't seem to work. (At least the way I tried it) I think this year we have gotten around it within our code and moving our starting trajectory pose and joining it at its closest point to our robot to get a starting velocity. I was hoping I was doing something wrong or missed something, but if it wasn't then it was something I believe would be a nice feature and would allow us to simplify our code in the future.