Issues · bigprint / twins-planner · GitLab

move TODO list from README to Issues for better management

#2 · opened Nov 06, 2020 by Jayant Khatkar documentation
- CLOSED
- 0
updated Nov 06, 2020
Confirm that MoveIt collisions and pybullet collisions match for the same orientations

#1 · opened Nov 06, 2020 by Jayant Khatkar bug
- CLOSED
- 1
updated Nov 06, 2020
Planner Object

#3 · opened Nov 06, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 0
updated Nov 30, 2020
Gcode for testing

#8 · opened Nov 09, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 1
updated Nov 30, 2020
Calculate contour executions

#4 · opened Nov 06, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 0
updated Nov 30, 2020
Caluclate trajectories between contours

#5 · opened Nov 06, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 2
updated Nov 30, 2020
Pybullet swept volume collision test

#17 · opened Nov 17, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 1
updated Nov 30, 2020
Greedy algorithm

#9 · opened Nov 09, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 0
updated Nov 30, 2020
Create way to configure the transformation of the arms

#18 · opened Nov 23, 2020 by Jayant Khatkar cancelled enhancement hardware
- CLOSED
- 1
updated Nov 29, 2020
Update ik functions and ikfast to transform into robot coordinates rather than use direct IK into world coordinates

#19 · opened Nov 23, 2020 by Jayant Khatkar enhancement
- CLOSED
- 0
updated Dec 01, 2020
contour trajectory timing issue with updated trajectory object

#28 · opened Nov 29, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling bug
- CLOSED
- 0
updated Dec 01, 2020
Update IK and FK to use print tip transformation for calibration

#20 · opened Nov 27, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 2d
- CLOSED
- 0
updated Dec 01, 2020
Create collision object at the end of the arm in the URDF for the print tip

#22 · opened Nov 27, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 1d
- CLOSED
- 1
updated Dec 01, 2020
Create a environment description class to pass to collision checker, planner etc. which reads config files.

#27 · opened Nov 29, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 0
updated Dec 01, 2020
switch controller to 0-indexing

#10 · opened Nov 11, 2020 by Jayant Khatkar enhancement
- CLOSED
- 0
updated Nov 16, 2020
rename package

#11 · opened Nov 15, 2020 by Jayant Khatkar bug
- CLOSED
- 1
updated Nov 16, 2020
Create fast way to do FK and IK in moveit or pybullet

#6 · opened Nov 06, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement
- CLOSED
- 4
updated Nov 30, 2020
Divide project into planner and controller

#26 · opened Nov 29, 2020 by Jayant Khatkar enhancement
- CLOSED
- 1
updated Nov 30, 2020
Add wait time between contours for extruion and retraction 1 of 6 tasks completed

#60 · opened Jan 24, 2021 by Jayant Khatkar 3D planning env setup and Greedy Scheduling cancelled enhancement hardware low priority 1d
- CLOSED
- 2
updated Feb 27, 2021
New home position is not always the closest to desired ik 0 of 3 tasks completed

#66 · opened Feb 12, 2021 by Jayant Khatkar bug cancelled enhancement hardware low priority 4h
- CLOSED
- 0
updated Feb 27, 2021
Use collada visuals with colors in pybullet gui for simulation demos for paper

#30 · opened Dec 01, 2020 by Jayant Khatkar Paper submission Paper prep cancelled enhancement suggestion 1d
- CLOSED
- 0
updated Mar 11, 2021
set up sphinx documentation

#15 · opened Nov 17, 2020 by Jayant Khatkar Paper submission cancelled documentation enhancement 2d
- CLOSED
- 1
updated Mar 11, 2021
Paper 6 of 12 tasks completed

#55 · opened Jan 07, 2021 by Jayant Khatkar Paper submission Paper prep discussion
- CLOSED
- 1
updated Mar 03, 2021
multiple pybullet instances simultaneously for running experiments 0 of 3 tasks completed

#42 · opened Dec 11, 2020 by Jayant Khatkar Paper submission cancelled enhancement low priority 1d
- CLOSED
- 1
updated Feb 27, 2021
IKFast returns no solution in degenrate cases

#13 · opened Nov 16, 2020 by Jayant Khatkar bug low priority
- 0
updated Dec 07, 2020
Compile pyikfast with catkin

#12 · opened Nov 16, 2020 by Jayant Khatkar cancelled enhancement low priority suggestion
- CLOSED
- 1
updated Nov 27, 2020
update readme to include pyikfast installation

#14 · opened Nov 17, 2020 by Jayant Khatkar documentation low priority
- CLOSED
- 0
updated Dec 01, 2020
Plan verifies that it is continuous

#32 · opened Dec 01, 2020 by Jayant Khatkar enhancement low priority suggestion 1d
- 0
updated Dec 18, 2020
Planner to home after end of plan so far

#16 · opened Nov 17, 2020 by Jayant Khatkar enhancement low priority suggestion
- CLOSED
- 2
updated Feb 27, 2021
Create method to calibrate print tip transformation

#21 · opened Nov 27, 2020 by Jayant Khatkar cancelled enhancement hardware
- CLOSED
- 1
updated Nov 29, 2020
integrate ExtrudeX into new project

#23 · opened Nov 27, 2020 by Jayant Khatkar cancelled enhancement hardware
- CLOSED
- 1
updated Nov 29, 2020
contour tracking in JTrajectory

#7 · opened Nov 09, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement suggestion 4h
- CLOSED
- 0
updated Dec 01, 2020
Greedy return to home if no contours possible

#29 · opened Nov 30, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 1d
- CLOSED
- 1
updated Dec 01, 2020
build Dec-MCTS tree inputs

#34 · opened Dec 02, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement 2d
- CLOSED
- 0
updated Dec 06, 2020
Swept volume collision check in pybullet 6 of 6 tasks completed

#38 · opened Dec 07, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement 1d
- CLOSED
- 1
updated Dec 08, 2020
Combined schedule 5 of 5 tasks completed

#35 · opened Dec 03, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement 2d
- CLOSED
- 1
updated Dec 13, 2020
Design Dec-MCTS reward function

#24 · opened Nov 27, 2020 by Jayant Khatkar Dec-MCTS scheduling Paper prep enhancement 1w
- CLOSED
- 2
updated Dec 13, 2020
Check what collision regions between pairs of trajectories look like 3 of 3 tasks completed

#40 · opened Dec 10, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement 1d
- CLOSED
- 1
updated Dec 29, 2020
save a plan and load it 2 of 2 tasks completed

#41 · opened Dec 11, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 4h
- CLOSED
- 0
updated Dec 16, 2020
handoff for executing plan on hardware 2 of 2 tasks completed

#33 · opened Dec 01, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement hardware
- CLOSED
- 0
updated Dec 16, 2020
Capsule collision checking

#31 · opened Dec 01, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement suggestion 2d
- CLOSED
- 2
updated Dec 14, 2020
Dec-MCTS to real plan 7 of 8 tasks completed

#49 · opened Dec 21, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement 1w
- CLOSED
- 5
updated Feb 01, 2021
Make time for between-contour-trajectories realistic 0 of 3 tasks completed

#50 · opened Dec 27, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement hardware 1d
- CLOSED
- 1
updated Jan 13, 2021
Experimentally get relationship between joint angle difference and length of successful trajectory from greedy real life data 5 of 5 tasks completed

#39 · opened Dec 10, 2020 by Jayant Khatkar Dec-MCTS scheduling enhancement 1d
- CLOSED
- 5
updated Jan 13, 2021
Restrict Dec-MCTS to one Traj per contour

#59 · opened Jan 17, 2021 by Jayant Khatkar Dec-MCTS scheduling enhancement 4h
- CLOSED
- 0
updated Jan 17, 2021
Add buffer time for joint scheduler 2 of 2 tasks completed

#53 · opened Jan 05, 2021 by Jayant Khatkar Dec-MCTS scheduling enhancement 1d
- CLOSED
- 1
updated Jan 23, 2021
Improve Dec-MCTS to real plan logic 2 of 3 tasks completed

#61 · opened Feb 01, 2021 by Jayant Khatkar Dec-MCTS scheduling cancelled enhancement
- CLOSED
- 3
updated Feb 04, 2021
CominedScheduler should only add plans to one arm if thats the most efficient 0 of 3 tasks completed

#62 · opened Feb 03, 2021 by Jayant Khatkar Dec-MCTS scheduling cancelled enhancement 1d
- CLOSED
- 1
updated Feb 05, 2021
Zone blocking 2 of 2 tasks completed

#67 · opened Feb 14, 2021 by Jayant Khatkar Paper submission Paper prep enhancement
- CLOSED
- 1
updated Feb 14, 2021
decmcts and greedy with a simple list of contours 4 of 4 tasks completed

#68 · opened Feb 14, 2021 by Jayant Khatkar Paper submission In Progress Paper prep enhancement
- CLOSED
- 0
updated Feb 15, 2021
Dec-MCTS full print 1 of 2 tasks completed

#63 · opened Feb 03, 2021 by Jayant Khatkar Dec-MCTS scheduling enhancement
- CLOSED
- 0
updated Feb 15, 2021
Dec-MCTS for 3 arms 2 of 3 tasks completed

#43 · opened Dec 13, 2020 by Jayant Khatkar Dec-MCTS scheduling Paper prep enhancement 1d
- CLOSED
- 1
updated Apr 07, 2021
Sample Print for Hardware demo 11 of 11 tasks completed

#69 · opened Feb 15, 2021 by Jayant Khatkar Paper submission Paper prep hardware
- CLOSED
- 3
updated Feb 19, 2021
Function to plot the contours coloured by which arm

#71 · opened Feb 18, 2021 by Jayant Khatkar Paper submission enhancement
- CLOSED
- 2
updated Feb 19, 2021
Run on bulk stl files for testing 12 of 13 tasks completed

#64 · opened Feb 04, 2021 by Jayant Khatkar Dec-MCTS scheduling Paper prep enhancement 2d
- CLOSED
- 5
updated Feb 25, 2021
Improve Dec-MCTS scheduler logic

#70 · opened Feb 15, 2021 by Jayant Khatkar Dec-MCTS scheduling enhancement 1d
- CLOSED
- 2
updated Feb 22, 2021
Align planning parameters with true hardware 3 of 4 tasks completed

#58 · opened Jan 13, 2021 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement hardware
- CLOSED
- 0
updated Feb 03, 2021
Sample Print for Hardware demo 2 3 of 3 tasks completed

#72 · opened Feb 23, 2021 by Jayant Khatkar Paper submission Paper prep
- CLOSED
- 5
updated Feb 27, 2021
Counter Example for Combined Schedule Optimality

#56 · opened Jan 12, 2021 by Jayant Khatkar Paper prep cancelled
- CLOSED
- 2
updated Feb 22, 2021
Move slightly up and down between contours 2 of 2 tasks completed

#51 · opened Dec 27, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 1d
- CLOSED
- 1
updated Feb 21, 2021
python-fcl for collision checking

#37 · opened Dec 05, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling cancelled enhancement 3d
- CLOSED
- 3
updated Dec 05, 2020
plan fails when gcode waypoints are too wide apart

#47 · opened Dec 20, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling bug 4h
- CLOSED
- 1
updated Dec 21, 2020
Greedy 3 arm test 3 of 3 tasks completed

#25 · opened Nov 27, 2020 by Jayant Khatkar Paper submission Paper prep enhancement 1d
- CLOSED
- 1
updated Dec 18, 2020
Use calibrated arm and tip positions 3 of 3 tasks completed

#44 · opened Dec 16, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement hardware 4h
- CLOSED
- 1
updated Dec 18, 2020
greedy arm caught

#36 · opened Dec 03, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling bug
- CLOSED
- 2
updated Dec 16, 2020
Plan fails when there are impossible contours 4 of 6 tasks completed

#48 · opened Dec 21, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling bug 1w
- CLOSED
- 2
updated Dec 26, 2020
Collision check against completed layers 3 of 5 tasks completed

#45 · opened Dec 18, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 3d
- CLOSED
- 1
updated Dec 27, 2020
Create test plans for hardware testing for one arm 5 of 6 tasks completed

#46 · opened Dec 18, 2020 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement 2d
- CLOSED
- 1
updated Jan 11, 2021
JointScheduler bugs 7 of 7 tasks completed

#52 · opened Dec 29, 2020 by Jayant Khatkar Dec-MCTS scheduling bug 2d
- CLOSED
- 3
updated Dec 31, 2020
JTraj for contours are not always executable 1 of 1 task completed

#54 · opened Jan 06, 2021 by Jayant Khatkar 3D planning env setup and Greedy Scheduling bug
- CLOSED
- 0
updated Jan 06, 2021
Measure print head and change shape of it's collision object in planning 2 of 3 tasks completed

#57 · opened Jan 13, 2021 by Jayant Khatkar 3D planning env setup and Greedy Scheduling enhancement hardware
- CLOSED
- 1
updated Jan 27, 2021
Add random and weighted random rollout options (needed for Dec-MCTS optimality guarantee)

#65 · opened Feb 05, 2021 by Jayant Khatkar Dec-MCTS scheduling enhancement 4h
- CLOSED
- 0
updated Feb 05, 2021