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Orientation bounds for floating base not supported in OMPL #629

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wxmerkt opened this issue Jul 11, 2019 · 0 comments
Open

Orientation bounds for floating base not supported in OMPL #629

wxmerkt opened this issue Jul 11, 2019 · 0 comments

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@wxmerkt
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wxmerkt commented Jul 11, 2019 •
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OMPL does not support bounds on SO(2) and SO(3) which are part of the compound state spaces we are using (SE(2) and SE(3), paired with RN). As a result, our sampling-based planners do not work when presented with a set floating base bound on the orientation components. An upstream issue/feature request has been raised.

Upstream feature request: https://bitbucket.org/ompl/ompl/issues/542/bounds-on-orientation-eg-so-2
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