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Port this MoveIt PR Constrained OMPL Planner

Open Levi-Armstrong opened this issue 4 years ago • 5 comments

This PR should be straight forward port since we recently had something similar in master.

Levi-Armstrong avatar Jan 06 '21 05:01 Levi-Armstrong

hi @Levi-Armstrong , is this feature porting still in the plan? Thanks!

chriswang2010 avatar Sep 28 '22 17:09 chriswang2010

The port was done a while back but is on an older version of Tesseract. It did not perform well for glass upright example so I have not revived it yet. I can dig up the branch if you are interested in updating it to the latest and testing it out.

Levi-Armstrong avatar Sep 29 '22 17:09 Levi-Armstrong

https://github.com/tesseract-robotics/tesseract_planning/blob/9873a4f88b85d4426f6a525ce207e0b66dcfafbd/tesseract_motion_planners/src/ompl/config/ompl_planner_constrained_config.cpp

https://github.com/tesseract-robotics/tesseract_planning/tree/9873a4f88b85d4426f6a525ce207e0b66dcfafbd/tesseract_motion_planners/src/ompl/config

Levi-Armstrong avatar Sep 29 '22 18:09 Levi-Armstrong

Thanks! I will take a look and test it out!

chriswang2010 avatar Sep 29 '22 18:09 chriswang2010

The main issue with this approach is that it samples in joint space then uses gradient decent to drive the state to the constraint manifold. This was making it take forever. In the case of the glass upright problem it would probably be better to do sampling in cartesian space and solve IK which should be much faster.

Levi-Armstrong avatar Sep 30 '22 15:09 Levi-Armstrong