Waypoint planning algorithm for task 2 (cubes)

nepfaff / tenaci

Software for a robotic manipulator that can rotate and stack cubes, draw sketches, and prepare a miniature breakfast.

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Waypoint planning algorithm for task 2 (cubes) #3

Closed nepfaff closed 2 years ago

nepfaff commented 2 years ago

We want an algorithm that

takes current cube positions, orientations and the goal positions, orientations as an input
returns the waypoints to achieve this (want a sequence of general waypoints that work with the existing waypoint state machine)

nepfaff commented 2 years ago

Decided to split into 3 functions. One for each sub-task.

nepfaff commented 2 years ago

Task 2b, 2c might need task space motion planning to avoid floor collisions. There is already an issue for implementing this: #7. At the moment, we don't determine how the arm moves between two waypoints. The movement might go through the floor.

nepfaff commented 2 years ago

This has now been implemented in simulation. However, does not work perfectly yet (floor collisions). Might be able to finish this task using task space motion planning as described above.

Translate into MATLAB once it works correctly all the time.

nepfaff commented 2 years ago

Tested in simulation and translated into MATLAB. This task is done once tested with the real robot

nepfaff commented 2 years ago

Testing revealed weaknesses. See issue for V2 ideas

nepfaff commented 2 years ago

The main issues have been addressed. This appears sufficient for the video demo cube locations. Might still be worth to keep working on this to ensure that it also works for the demo-day cube locations.

nepfaff commented 2 years ago

See new problem on linked issue. This is now high priority to fix

nepfaff commented 2 years ago

Now split into #14 #15 #16