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etpr / sequential-manifold-planning

Sequential motion planning algorithm for problems defined as a sequence of manifolds.
MIT License
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Defining Manifolds for Task B and Task C #2

Open akshaya95 opened 3 years ago

akshaya95 commented 3 years ago

Hi @etpr , Great work in Sequential Manifolds domain. I was trying to understand how are the manifolds defined for Task B and Task C in your paper on Sampling Based Motion planning on Sequenced Manifold.

For Example in Task B: Where one robotic arm picks up the object, places on a mobile base and the second robot picks up the object from mobile base and places it on target location, is the sequence of constraints which lead to manifold definition as follows:

  1. Pick up the object: Arm 1
  2. Handover the object. (Keep the object at target location). I failed to figure out what could be the third manifold in this case as number of Manifolds mentioned in the paper is n = 3.

Similarly for Task C: Where four robots are used to transport two objects between two tables. Three arms are mounted on the tables and another arm with a tray is mounted on a mobile base. Total number of Manifolds for this task is mentioned as n = 12. I could figure out the below manifolds:

  1. Pick up object 1
  2. Pick up object 2
  3. Place object 1 on plate attached to arm on the mobile base (Handover the object)
  4. Place object 1 on plate attached to arm on the mobile base (Handover the object)
  5. Orientation Constraint on the arm on the mobile base
  6. Pick up object 1
  7. Place object 1
  8. Pick up object 2
  9. Place object 2 I failed to figure out remaining 2 manifolds.

It would be of great help if you can give me some pointers on this.

Thank you

hello-starry commented 3 years ago

hello friend can you find the code for the task A B, C? I am confused how to define the task of A，B and C.

JBVAkshaya commented 3 years ago

Hi @hello-starry , This repository does not include the code for tasks A, B, and C. However my updated interpretation of manifold definitions for task C is as follows:

  1. Pick up the object (2 manifolds: 1 for each object)
  2. Orientation constraint for Arm1 and Arm2 (2 manifolds: 1 for each object)
  3. Handover the red object to the mobile bot
  4. Orientation constraint for mobile bot
  5. Handover the blue object to the mobile bot
  6. Handover the red object to arm 3
  7. Orientation Constraint for Arm 3
  8. Place the red object
  9. Handover the blue object to arm 3
  10. Orientation Constraint for Arm 3
  11. Place the blue object

However, the total number of manifolds is 13 for the above definition.