Expired
Milestone
Nov 1, 2020–Dec 25, 2020
3D planning env setup and Greedy Scheduling
Milestone ID: 176
Create the necessary tooling for planning in a 3D world and create a Greedy planner using it.
All issues for this milestone are closed. You may close this milestone now.
Unstarted Issues (open and unassigned)
0
Ongoing Issues (open and assigned)
0
Completed Issues (closed)
28
- Add wait time between contours for extruion and retraction
- Align planning parameters with true hardware
- Measure print head and change shape of it's collision object in planning
- Move slightly up and down between contours
- Make time for between-contour-trajectories realistic
- Create test plans for hardware testing for one arm
- Collision check against completed layers
- Use calibrated arm and tip positions
- save a plan and load it
- python-fcl for collision checking
- handoff for executing plan on hardware
- Greedy return to home if no contours possible
- Create a environment description class to pass to collision checker, planner etc. which reads config files.
- Create collision object at the end of the arm in the URDF for the print tip
- Update IK and FK to use print tip transformation for calibration
- Pybullet swept volume collision test
- Greedy algorithm
- Gcode for testing
- contour tracking in JTrajectory
- Create fast way to do FK and IK in moveit or pybullet
- Caluclate trajectories between contours
- Calculate contour executions
- Planner Object
- JTraj for contours are not always executable
- Plan fails when there are impossible contours
- plan fails when gcode waypoints are too wide apart
- greedy arm caught
- contour trajectory timing issue with updated trajectory object
