Prevent camera collisions with ifco

SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation

BSD 3-Clause "New" or "Revised" License

7 stars 3 forks source link

Prevent camera collisions with ifco #49

Closed JannisW closed 5 years ago

JannisW commented 5 years ago

The mounted camera is prone to collide with the ifco. Since we don't have belief propagation in feasibility check yet, it is even an issue with the feasibility checker integrated.

One work around would be to search for intial joint configurations (e.g. elbow up) that might lead to different trajectories, which are safer w.r.t. the camera position.

JannisW commented 5 years ago

solved by changing the initial joint configuration (camera is also included in the robot model now)

belief propagation would further improve this ...