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pangtao22 / planning_through_contact

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Rollout version of RRT #28

Closed hjsuh94 closed 2 years ago

hjsuh94 commented 2 years ago

Summary of changes:

  1. Rollout is implemented in q_dynamics and q_dynamics_parallel. This takes longer, but might help get rid of Anitescu issues.
  2. Some structural changes are made in rrt_base.py to support . Now, extend_towards_q must return a node and an edge with the attributes defined by the class. This defines better inheritance and prepares for the trajopt extend version, since trajopt can be run and the cost / u_trj can be returned during this stage.
  3. The path can now be saved to a dictionary file and dumped so that one can attempt to run trajopt on the final path.

Closes #18

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