Michael Görner
Michael Görner
See https://github.com/humanoid-path-planner/hpp-fcl Authors of this heavily-changed version of FCL published [a paper at RSS this year](https://arxiv.org/abs/2205.09663) about speedups of factor 2 for convex collision checking over standard GJK. Together with...
MoveIt's PlanningScene does not have any concept of time. In itself that's ok, because we want to deal with "snapshots" of a real state in many situations. Trajectories already have...
Copy from https://github.com/ros-planning/moveit_task_constructor/issues/349#issuecomment-1086571488 : > > While this task does find a trajectory that intersects the octomap during the final part of the grasp while avoiding it during the initial...
When a stage merges trajectories (either `Connect`, doing it implicitly or a `Merger` stage), the trajectories time parameterization [is computed from scratch](https://github.com/ros-planning/moveit_task_constructor/pull/339#discussion_r819593676) with hard-coded scaling factors. This can unexpectedly speed...
This interface can be customized by the user to state when/where additional execution hooks should run. This is an initial thread to discuss/extend this idea as discussed in #192
Possible features that require this interface might be - trajectory reparameterization, - trajectory optimization as post-processing (like MoveIt's CHOMP adapter), - multi-trajectory blending (similar to Pilz' sequence planner) [Here](https://github.com/v4hn/mtc_examples/blob/0346765dbb7eb8d6985cda9355aea1566becc658/src/modifying_wrapper.cpp) is...
I've recently spent a bit of work to improve deserialization and introspect [a stages Propertys](https://github.com/ros-planning/moveit_task_constructor/blob/master/core/include/moveit/task_constructor/properties.h). I'm struggling with a nice interface though. For deserialization to be useful, the actual type...
Whereas users can click through individual solutions of a stage, they can't yet see the connected solutions of other stages. It would be very useful to get the following GUI...
If incoming pairs in the `Connect` stage [are incompatible](https://github.com/ros-planning/moveit_task_constructor/blob/master/core/src/stages/connect.cpp#L100), these pairs are silently dropped. But as a result it is impossible to debug in RViz when all incoming pairs are...
We recently reworked pruning (#221, #250, #252). It works more reliable now and can reduce computational overhead quite a lot. However, for debugging, it can be useful to attempt all...