How to plan a trajectory considering maximum speed and maximum acceleration with a trapezoidal velocity profile? Preferably, it should pass through several milestones. We have limits in the ROB file, but they are not being utilized.
There are several methods in klampt.plan.motionplanning which admittedly are not particularly well documented due to some SWIG formatting issues. You can look at the C documentation in Klampt/Python/klampt/src/interpolate.h for some help.
If you would like to do a minimum-time path between joint space milestones (where you don't need to interpolate the trajectory exactly) you can use interpolate_nd_min_time. If you would like to interpolate the straight line joint space path exactly, you can use interpolate_nd_min_time_linear
A more Pythonic way of getting access to this is klampt.control.motion_generation.AccelerationBoundedMotionGeneration. You can set the start state, call
setTarget multiple times, and then call
trajectory to receive the trajectory.