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motion-planning / rrt-algorithms

n-dimensional RRT, RRT* (RRT-Star)
MIT License
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RRT with obstacles file included. #25

Closed addy1997 closed 4 years ago

addy1997 commented 4 years ago

Hello,

I wrote code for RRT 2d using pygame. I would like to contribute it to your repository if you find it useful.

Thanks

SZanlongo commented 4 years ago

Hi @addy1997, appreciate your taking the time to put in a pull request.

It seems that much of the functionality from the original codebase has been duplicated, which might be confusing for someone trying to use this notebook as an example. Also, keep in mind that the duplicated code is restricted to 2 dimensions. This is understandable as Pygame operates in 2 dimensions, however this again returns to the previous issue of potentially confusing someone who might eventually seek to use the underlying code in higher dimensions.

It might be useful to see these examples of the demo code using 2 and 3-dimensional representations, which can be easily scaled to higher dimensions by simply scaling the start and end points, and search space.

The animation would definitely be a useful contribution. I have actually been meaning to do so using Plot.ly.

addy1997 commented 4 years ago

Hi @addy1997, appreciate your taking the time to put in a pull request.

It seems that much of the functionality from the original codebase has been duplicated, which might be confusing for someone trying to use this notebook as an example. Also, keep in mind that the duplicated code is restricted to 2 dimensions. This is understandable as Pygame operates in 2 dimensions, however this again returns to the previous issue of potentially confusing someone who might eventually seek to use the underlying code in higher dimensions.

It might be useful to see these examples of the demo code using 2 and 3-dimensional representations, which can be easily scaled to higher dimensions by simply scaling the start and end points, and search space.

The animation would definitely be a useful contribution. I have actually been meaning to do so using Plot.ly.

Hi @SZanlongo, I am glad that you responded to my pull up request. I apologize for coming too straight forward and asking directly to contribute. Please believe me I had no intention to copy the entire code in undesired manner and contribute something that has previously been made.

Actually, In my robotics lab, as an absolute beginner, I have started working on UR5 robotic arm for which i have to design the RRT code in 3d. So It was just an attempt to design a module for a robotic arm and test it in 2d to examine it.

Thanks for your response.

SZanlongo commented 4 years ago

Hey @addy1997! No problem at all! I'm simply looking to maintain a library that is usable by many people, and that often entails leaving some things out. Contributions that improve the library for users are always welcome.

If you are looking to use a 3D rrt, then the previously-mentioned examples might be useful.

Best of luck in your studies!