Make urdf formats for OMPL envs and robots

personalrobotics / pr_assets

OpenRAVE data used by the Personal Robotics Lab at CMU.

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Make urdf formats for OMPL envs and robots #46

Closed aditya-vk closed 3 years ago

aditya-vk commented 5 years ago

OMPL provides envs and robots for benchmarking and different planners. They are provided separately in OMPLapp repository as .dae files. It should be convenient to have these in our assets as urdf files to load up any env and any robot and benchmark our planners. Example of an SE2 environment and robot is visualized below.

sanjibanc commented 5 years ago

Looks good to me!

aditya-vk commented 5 years ago

Awesome! Then I will do the same for SE3 environments as well and remove the WIP tag and notify you folks. Thanks!

aditya-vk commented 5 years ago

Done. Ready for a merge. @sanjibac @brianhou

brianhou commented 5 years ago

Are all of these files necessary? This doubles the size of pr_assets, and I don't think most people will ever use these planning environments. Would a separate planning benchmarks repository make sense?