- Add checks for static objects when planning to clear a path
- for pushing actions
- for grasping actions
- Consider objects that are not blocking the object but may block the arm while clearing a path to reach the object
- objects directly behind goal
-
objects outside defined workspace
- Add grasping as a clutter clearing action
- Add execution time logging
- use ROS params for planner timeouts, name, IK solve type etc.
- Write up a complete README
- Add search method for suitable locations to drop grasped objects
- Surface discretisation
- Surface search
- Add media files
- Add number of actions logging
- Add some form of grasp pose generation
- Add script to randomise Gazebo environment and execute the planner
- scene randomiser
- node to automate planner execution
- Change planner to use online planning
- Implement enum for each action type
-
Implement adjustments for object pose probability in cluttered areas