twins-planner issueshttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues2021-02-27T20:50:43+11:00https://code.research.uts.edu.au/bigprint/twins-planner/-/issues/42multiple pybullet instances simultaneously for running experiments2021-02-27T20:50:43+11:00Jayant Khatkarmultiple pybullet instances simultaneously for running experiments- [ ] Check cores being used for single planning instance
- [ ] specify bullet instance connecting to when instantiating new planning env
- [ ] run experiments simultaneously using multiple cores.- [ ] Check cores being used for single planning instance
- [ ] specify bullet instance connecting to when instantiating new planning env
- [ ] run experiments simultaneously using multiple cores.Paper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/60Add wait time between contours for extruion and retraction2021-02-27T20:50:17+11:00Jayant KhatkarAdd wait time between contours for extruion and retractionBefore each contour starts, add some wait time (for pre-print extrusion).
After each contour finishes, add some wait time (for post-print retraction).
- [x] Look at how time is calculated in Plan object when adding plans and doing coll...Before each contour starts, add some wait time (for pre-print extrusion).
After each contour finishes, add some wait time (for post-print retraction).
- [x] Look at how time is calculated in Plan object when adding plans and doing collision checking
- [ ] Change jointsAt time function to use added vairable of time between trajectories
- [ ] add preprint time for real plan (Plan object)
- [ ] add post-print time for real plan
- [ ] add preprint time in Dec-MCTS CombinedScheduler
- [ ] add post print time in Dec-MCTS CombinedScheduler3D planning env setup and Greedy SchedulingJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/66New home position is not always the closest to desired ik2021-02-27T20:48:49+11:00Jayant KhatkarNew home position is not always the closest to desired ikHave assumed that the ik sol closest to home is the desired ik (of the 8 possible), but the new home position, this no longer applies.
- [ ] use a different home (home2) to get the ik wwe want to use
- [ ] greedy
- [ ] decmctsHave assumed that the ik sol closest to home is the desired ik (of the 8 possible), but the new home position, this no longer applies.
- [ ] use a different home (home2) to get the ik wwe want to use
- [ ] greedy
- [ ] decmctsJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/16Planner to home after end of plan so far2021-02-27T20:48:16+11:00Jayant KhatkarPlanner to home after end of plan so farwhen querying the planner for joint positions at a time after the plan ends, it always returns the last plan.
- change this to stay at current position for a given amount of time (to reserve nearby contours for itself) and then a traject...when querying the planner for joint positions at a time after the plan ends, it always returns the last plan.
- change this to stay at current position for a given amount of time (to reserve nearby contours for itself) and then a trajectory to return home to get out of the way.
- ~~also, create interface to get a list of joint angles between a time period at a particular frequency.~~Jayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/14update readme to include pyikfast installation2020-12-01T15:05:34+11:00Jayant Khatkarupdate readme to include pyikfast installationJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/12Compile pyikfast with catkin2020-11-27T00:41:34+11:00Jayant KhatkarCompile pyikfast with catkinpyikfast needs to installed separately from `catkin_make - source` workflow.
It would be good it it can be simply be compiled and sourced with the rest of the code in the repo with catkin.pyikfast needs to installed separately from `catkin_make - source` workflow.
It would be good it it can be simply be compiled and sourced with the rest of the code in the repo with catkin.Jayant KhatkarJayant Khatkar