Introduce orientation requirement to iron

roboticslab-uc3m / openrave-yarp-plugins

OpenRAVE plugins to interface OpenRAVE with YARP.

https://robots.uc3m.es/openrave-yarp-plugins/

GNU Lesser General Public License v2.1

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Introduce orientation requirement to iron #68

Open RaulFdzbis opened 6 years ago

RaulFdzbis commented 6 years ago

TODO, introduce orientation requirment in iron. Options:

Using quaternions angles (default way to work with orientation in openrave).
Using euler angles (convert quaternions to euler angles) less efficent but conceptually simpler.

I am working on this.

jgvictores commented 6 years ago

WIP at a5ede71964121cf194e56dbd44997dcb498b7508

jgvictores commented 6 years ago

More WIP at 083c5556de6e790b35c07ab728fe036fcd0897db

RaulFdzbis commented 6 years ago

After new priority organization, the development of this issue will be stopped for the moment.

David-Estevez commented 6 years ago

I've been speaking to @RaulFdzbis this morning and he told me to write here this idea:

What about not only having a positive reward for ironing a region with a certain orientation, but also to give a negative reward if the robot tries to iron a region with an incorrect orientation? This region could be even an already ironed one, that becomes wrinkled again if ironed incorrectly.

jgvictores commented 6 years ago

Deleted the branch issue-68-ori which currently simply pointed to existing 2fe53a88fcd3dba4f5dbcc469ddf2e8a87bfb4c1.

jgvictores commented 6 years ago

Blocked by #66