search

personalrobotics / or_trajopt

OpenRAVE plugin to expose TrajOpt code as an OpenRAVE planner
BSD 3-Clause "New" or "Revised" License
2 stars 3 forks source link

Feature: PlanToTSR and PlanToEndEffectorOffset #20

Open psigen opened 8 years ago

psigen commented 8 years ago

@rachelholladay @siddhss5 @mkoval I finally got around to implementing PlanToTSR and PlanToEE methods (as per #5) using the new prpy TSR API, but... it doesn't work great.

It seems to generally produce technically correct output, but is pretty slow and I'm not sure about the quality of the solutions. I think it might be that the TSR and EE gradient functions are not very informative, but I'm not sure why not. Note I could not fine any hard constraint projection mechanisms in trajopt, so everything has to be gradients.

Can you help me test out this code and try and get it working faster/more stably?

psigen commented 8 years ago

PlanToTSR cost/constraint functions: https://github.com/personalrobotics/or_trajopt/blob/feature/ee_offset/src/or_trajopt/planning.py#L718

PlanToEndEffectorOffset cost/constraint functions: https://github.com/personalrobotics/or_trajopt/blob/feature/ee_offset/src/or_trajopt/planning.py#L587

rachelholladay commented 8 years ago

@pkv I did a simple TSR test, was there anything in particular to look at or just to run it through a lot of stress tests? I also resolved the merge conflicts with master (they were minor). Mind if I commit that to this?