Problem
Current manipulation stack only uses rrt planner which is very slow to compute paths with obstacle avoidance.
Need to test current state of the art planners to see what is performance difference
Proposed Solution
Using CHOMP planner and VAMP planners are 2 planners that should be added and tested.
Alternatives Considered
No response
Additional Context
No response
Synced from DIM-734 by summer
Problem
Current manipulation stack only uses rrt planner which is very slow to compute paths with obstacle avoidance.
Need to test current state of the art planners to see what is performance difference
Proposed Solution
Using CHOMP planner and VAMP planners are 2 planners that should be added and tested.
Alternatives Considered
No response
Additional Context
No response
Synced from DIM-734 by summer