Spiky Behavior
Some odd spiky paths when planning with WBV with a goal pose that the path needs to go through repulsive influence zones
Another example
Notes after meeting Dan Lynch
- Plot or visualize the time series data for the repulsive forces acting on each link.
- Verify that propagating a force on the outer surface of a link is correctly mapped to a joint torque "felt" from the force.
- Consider using ellipsoids to model links instead of using meshes since mesh quality may impact distance queries.
- Verify distance queries using meshes are smoothly transitioning as a mesh is in motion
This Pull Request: #31 implements the visualization of the individual forces and clearances on the links
Next Steps
A promising idea could be to change the robot representation from meshes to simple shapes that will have smooth transitions in distance to obstacles. There are many options but here are a few ideas:
Spiky Behavior
Some odd spiky paths when planning with WBV with a goal pose that the path needs to go through repulsive influence zones
Another example
Notes after meeting Dan Lynch
This Pull Request: #31 implements the visualization of the individual forces and clearances on the links
Next Steps
A promising idea could be to change the robot representation from meshes to simple shapes that will have smooth transitions in distance to obstacles. There are many options but here are a few ideas: