aikido

aikido copied to clipboard

DRY vs. WET

8

The [base] robot/manipulator class currently has `non-const` version of some getter functions as virtual functions and the `const` version of the function as non-virtual. This is in favor of the...

aditya-vk

Decide on convention for `detail` directories

4

There's a `detail` directory in `src/planner/vectorfield`, although most of our `detail` directories are in `include` somewhere. I feel like we should have some consistent rules that are written down somewhere....

brianhou

Implement remaining joint types

1

In aikido/aikido/include/aikido/statespace/dart/detail/MetaSkeletonStateSpace.hpp, we can implement the remaining joint types: - [ ] ScrewJoint - [x] WeldJoint - a 0 dimensional RealVector: #146 - [ ] UniversalJoint - a compound joint...

aaronjoh

It seems that DART should already contain a WAM model. Maybe we can use that to write tests without adding `herb_description` as a test dependency. I only see URDFs for...

brianhou

Implement ```getMaximumExtent```

1

Implement the `getMaximumExtent` function on `aikido::ompl::GeometricStateSpace`. This is used by OMPL planners to compute collision checking resolution. We are avoiding this by defining a custom `MotionValidator`. But there may be...

jeking04

VectorFieldPlanner

3

VectorField planner that plans a path by following defined joint velocities in configuration space and terminates by defined criteria. - Use `boost::numeric::odeint::integrate_adaptive` that integrates joint velocities with adaptive step size...

dqyi11

Add first-class support for SE(2) and SE(3) state spaces

2

We have SE(2) and SE(3) state spaces implemented in `aikido::statespace`, but they are not fully supported by the rest of Aikido (e.g. distance metrics, interpolation methods, DART conversions). We need...

mkoval

After upgrading to a higher Boost version (from 1.54.0), I noticed issues when trying to link to the AIKIDO rviz shared library file from another project. These issues seemed to...

sniyaz

Consider adding name field to Trajectory

2

I think it would be good to be able to assign a name to a trajectory. This would be useful to know which trajectory is which when visualizing multiple trajectories...

jslee02

`BodyNodeVectorField` added in https://github.com/personalrobotics/aikido/pull/268 relies on having an upper bound on the integration step size to prevent the integrator from stepping out of joint limits. The RK4(5) integrator that we...

mkoval