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Refactor planner to use BulletClient #24

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swilcock0 opened this issue May 21, 2021 · 2 comments
Open

Refactor planner to use BulletClient #24

swilcock0 opened this issue May 21, 2021 · 2 comments
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enhancement New feature or request

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@swilcock0
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This will allow the direct planning of a path without losing a current scene. Will also need some kind of clone scene function potentially (as a method of Scene)?

It's gonna be a pain w/ lots of prereqs. Possibly create a new utils module based on bc use.

THOUGHT: Could we use a shared_memory instance instead??
@swilcock0
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Other thought: Set up an additional robot far away and plan with that.

@swilcock0 swilcock0 added the enhancement New feature or request label May 21, 2021
@swilcock0
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Possibly don't need to if I just use Bullet for the collision checking w.r.t. geometric assembly planning etc ::shrug::

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@swilcock0