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CentroEPiaggio / pacman-DR53

This repository contains the necessary tools to run the demo contemplated in DR 5.3 of the PaCMan Project.
GNU General Public License v2.0
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Avoid collision with environment with the object in-hand #14

Open carlosjoserg opened 9 years ago

carlosjoserg commented 9 years ago

If I remember well, we disabled the attached collision object feature for planning post grasps and the rest of motions after grasps. It has to be enabled for correctness.

@hamalMarino can you describe the problematic of adding it here?

hamalMarino commented 9 years ago

In few words: no (collision-free, or any other btw) path will be generated. I think it's a matter of collision in starting/ending configuration, i.e. object touching the table. First attempt will be lifting the object without collision checking with the table and then add that check back. Then, I need to see if I can get more control on this.

hamalMarino commented 9 years ago

This is done, apart from this issue about retreating without collision checking, which is under implementation, but almost there...

carlosjoserg commented 9 years ago

Moving it to the April 17th milestone