Future Goals

Release 0.2.0

Below is a TODO list. The short term goals and the medium term goals will be done before the 0.3.0 release.

Short-Term

* Add a couple of collision checking optimizations. * Allow for attached objects that are meshes to be used. * Display important planning statistics after planning completes. * Remove remaining visualization code from within the arm planner node and put it into aviz

Medium-Term

* Remove the use of all text files * Become compatible with the grasping pipeline ** (Really depends on the grasping pipeline) ** Convert arm description text file into a yaml file ** Add motion primitive file to the pr2_right(left)_arm.yaml file

Long-Term

* Become compatible with any robot platform

Initial Release 0.1.0

While we are continuing our research in improving this motion planning algorithm we also intend on improving its implementation to support any arbitrary manipulator and to provide support for all of the features that the move_arm message request offers. Below are things we intend to change in future stack releases, most likely in the top-down order listed below.

• Generalize the Planner
  • Remove the dependency on the PR2_arm_kinematics package.
  • Include support through the pluginlib for a specified inverse kinematics package to be used. (This is the last piece required to fully generalize the planner to any manipulator platform.)
• Switch configuration files to yaml
  • Remove old configuration text file format and replace with yaml
• Dealing with Constraints
  • Goal Region Constraints: Support goal region constraints for all shapes
  • Joint Constraints: While it isn't the main focus of our research, we do have a search algorithm capable of finding a kinematically feasible path to a joint constraint.
  • Path Constraints