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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

Projecting onto TSR Chains #5

Open rachelholladay opened 9 years ago

rachelholladay commented 9 years ago

Inside constraints.py the function _TsrCostFn can't project onto TSR Chains.

siddhss5 commented 9 years ago

The functionality has been enabled in tsr.py in https://github.com/personalrobotics/prpy/pull/159. @psigen promises to update or_trajopt with the new functionality.

psigen commented 9 years ago

@rachelholladay: I've taken a first cut at implementing this here, if you want to try it out: https://github.com/personalrobotics/or_trajopt/tree/feature/tsr_projection

e.g. https://github.com/personalrobotics/or_trajopt/blob/feature/tsr_projection/src/or_trajopt/planning.py#L457