[MOVEIT] Motion planning of TR and DR #3
Description
Description
Although TR and DR are going to be manual for most of the tasks in real-time, we'll need to automate some of the tasks for better accuracy. Here, a motion planning pipeline will come into the picture especially for tasks like picking the arrows from the rack, throwing arrows, etc.
#Grasps
MoveIt Grasps is a grasp generator for objects such as blocks or cylinders and can be used as a replacement for the MoveIt pick and place pipeline. MoveIt Grasps provides functionality for filtering grasps based on reachability and Cartesian planning of approach, lift and retreat motions.
- Explore different motion planners like CHOMP, STOMP
- Incorporate Bullet for collision avoidance
- Explore different defence mechanisms and their motion planning pipeline