Trajectory optimization fails and it keeps looking for InterpolateType.KUNZ_STILMAN_OPTIMAL

[MannavaVivek]

I am running curobo using cuMotion, and I use interpolation_type = InterpolateType.LINEAR_CUDA and maximum_trajectory_dt=2.0.

and the planning is done with the following setting:
MotionGenPlanConfig(max_attempts=10, enable_graph_attempt=3, enable_opt=True,
time_dilation_factor=0.

The trajectory keeps failing even though I have tried with OMPL and it is reachable for the same start and goal state. When I run it in debug mode, here are the logs:

[cumotion_custom_planner.py-1] [INFO] [curobo] MG: running TO
[cumotion_custom_planner.py-1] [INFO] [curobo] TrajOpt: solving with Pose batch:1
[cumotion_custom_planner.py-1] [INFO] [curobo] Updating safety params
[cumotion_custom_planner.py-1] [INFO] [curobo] Updating optimizer params
[cumotion_custom_planner.py-1] [INFO] [curobo] Ran TO
[cumotion_custom_planner.py-1] [INFO] [curobo] MG: running GP
[cumotion_custom_planner.py-1] [INFO] [curobo] trajectory_smoothing package not found, InterpolateType.KUNZ_STILMAN_OPTIMAL is disabled. to enable, try installing curobo with pip install .[smooth]

Since I installed curobo through the cuMotion binaries, how do I get this trajectory_smoothing package, and why is it even looking for KUNZ_STILMAN if I set the interpolater to LINEAR_CUDA

[svillaloren]

Did you manage to solve it? I am facing the same issue

[JK-chance]

I downloaded trajectory_smoothing from https://github.com/balakumar-s/trajectory_smoothing and reinstalled trajectory_smoothing. While I still can't install the curobo smooth extension, I no longer get the error "trajectory_smoothing package not found, InterpolateType.KUNZ_STILMAN_OPTIMAL is disabled. To enable, try installing curobo with pip install .[smooth]."

Installation results in the error: ERROR: trajectory_smoothing-0.3-cp38-cp38-linux_x86_64.whl is not a supported wheel on this platform.

This likely refers to an issue with the original curobo compiled file.

I hope this helps.