Base

Base objectives revolve around the fluidity of robot motion by limiting rapid changes and considering possible collisions between the links of the robot. There are 9 Base objectives list below.

Objective	Goals	Description
Collision Avoidance	none	Detect and avoid collision using PROXIMA alogorithm1
Joint Limits	none	Applies a cost to approaching the robot’s joint limits
Velocity Minimization	none	Prevent rapid joint movements
Origin Velocity Minimization	none	Prevent rapid robot root movements
Acceleration Minimization	none	Prevent rapid changes in joint speed
Origin Acceleration Minimization	none	Prevent rapid changes in robot root speed
Jerk Minimization	none	Add fluidity to robot movement along the joints
Origin Jerk Minimization	none	Add fluidity to robot movement within the Cartesian space of the origin
Smoothness Macro	none	Combines each of the velocity, acceleration, and jerk minimization properties with normalized weights

Parameters for constructing Base Objectives

Parameter	Objectives	Type	Optional	Defauly value/behavior
name	all of the objectives mentioned above	string	no	none
weight	all of the objectives mentioned above	float	no	none