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README.md

Mobile Manipulation Path Planning

Simulation

Demo of the simulated planner in action. Notice how it avoids self intersection and collision with the floor.

Current State

  • Basic segment model of the Fetch
    • Can do inverse kinematics, track tool position
    • Added basic visualization
    • Can do collision checking with rough base approximation
    • Run Driver.py to see a test

Requirements

  • Run with Python 3.6
    • The only dependency is currently numpy and vpython

Todo

  • Have some way to move 3D camera around easily
  • Update internal fetch model to have real joint lengths
    • Also real base heights / positions
  • Get the 'mobile' part working
    • Add some sort of a base to the fetch object
  • Add Bi2RRT*
  • Try to improve RRT
    • Right now we only consider distance between closest nodes
    • Should probably also factor in the node's distance to the start/goal
      • Maybe this is what RRT* is lol idk

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CS8803 Final Project

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