Mobile Manipulation Path Planning

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