trajopt

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ROS release?

7

I'm currently spending some time on integrating trajopt as a MoveIt planner and was wondering if there are plans for a release to the ros noetic build farm? I have...

simonschmeisser

Trajopt_ifopt TODO list

7

- [x] Collision - Add other collision evaluators (See #193) - [ ] Collision Callback - Collision is the only one that is missing (See #192) - [x] Print debug...

mpowelson

Use applyContactManagerConfig instead of manually setting

5

Switch to using applyContactManagerConfig rather than doing it manually (and partially)

mpowelson

rviz: /usr/include/OGRE/OgreAxisAlignedBox.h:696: Ogre::Vector3 Ogre::AxisAlignedBox::getCenter() const: Assertion `(mExtent == EXTENT_FINITE) && "Can't get center of a null or infinite AAB"' failed.

1

constraint violations: (1.05234e-30, 8.46866e-08, 4.13798e-08, 1.76573e-09, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,...

dbdxnuliba

I believe these are failing due to an issue with bullets cast contact manager in tesseract on windows. I believe after they are resolved these here should hopefully pass. -...

Levi-Armstrong

Not able to solve Cartesian Plan

13

Hi, I am trying to compute a trajectory with trajopt to spray a isolation on a copper coil. The shape of the coil is quite complex, which leads to complex...

bi3ri

Add collision callback to trajopt_sqp

8

Address this. https://github.com/ros-industrial-consortium/trajopt_ros/blob/9360773d3dd672e5d698ba9535d60fbd338348e1/trajopt_optimizers/trajopt_sqp/src/callbacks/collision_plotter.cpp#L39

mpowelson

Feature Request: Cartesian Path Constraints

2

Cartesian path contraints would be useful. While eventually, different kinds of splines might be nice, for now I think the input may just be 2 isometries. The tcp must lie...

mpowelson

Solver wish list

1

This is a short wish list of solvers that we could add to trajopt_optimizers. We should also consider pushing some of them back to IFOPT if there is interest in...

mpowelson

Plotting callback broken for time param

1

I get this error when running the pick_and_place example with plotting:=true because it has the extra column for time. It's the assert in tesseractTrajectoryToJointTrajectoryMsg. I'm not sure what the easiest...

mpowelson