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tud-amr / localPlannerBench

Local Planner Bench
https://tud-amr.github.io/localPlannerBench/
GNU General Public License v3.0
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KeyError forward kinematics and goal in postProcessor #38

Closed casparvv closed 2 years ago

casparvv commented 2 years ago

Running an experiment with a point mass urdf, two-dimensional goal and fabrics results in a key error when post-processing. Variables for the goals and forward kinematics are created based on the dimensions of the obstacles, which is often three-dimensional.

If the goal is defined to be two-dimensional and both the goal and forward kinematics are stored as two-dimensional, the postProcessor will try to find the third-dimension variables for both the goal and forward kinematics, which does not always exist.

Solution: create the variable names for goal and forward kinematics dependent on the goal indices instead of the obstacle dimensions.

casparvv commented 2 years ago

PR #39 makes the variable names depend on the goal indices, solves the issue but it might break something else.