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FrankJIE09 / Dual_Robot_Motion_Planning_RRT_Connect

The algorithm is designed to plan the motions of two robots simultaneously, ensuring they do not collide with each other or with obstacles.
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The function "compute_link_info" has issue when y_offset != 0 #1

Open CROBOT974 opened 1 month ago

CROBOT974 commented 1 month ago

Hello,

I found that when y_offset is not equal to 0, the length of each link is not correct, to solve the issue, it would be better to make the following changes:

parent_pos = transformation_matrices[i - 1][:3, 3] ----> parent_pos = transformation_matrices[i - 1][:3, 3].copy()

child_pos = transformation_matrices[i][:3, 3] -----> child_pos = transformation_matrices[i][:3, 3].copy()

CROBOT974 commented 1 month ago

And the radius of links is set too large, 0.05 is rather a quite reasonable value.