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Add cables conflicts #123

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merged 17 commits into from
Sep 15, 2024
Merged

Add cables conflicts #123

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6b5db96
add cable conflicts constraints (hardcoded)
Khaledwahba1994 Aug 15, 2024
1ff4ce1
add dbcbs 2 double integrator examples
Khaledwahba1994 Aug 15, 2024
0c38631
generate initial guess from dbcbs output
Khaledwahba1994 Aug 15, 2024
1e6889e
add the cables_integrator2_2d_window example
Khaledwahba1994 Aug 15, 2024
3e32a67
change delta
Khaledwahba1994 Aug 15, 2024
732238f
update visualization script
Khaledwahba1994 Aug 15, 2024
0ed0fad
remove unnecessary builds
Khaledwahba1994 Aug 15, 2024
f34b3c0
update submodule
Khaledwahba1994 Aug 15, 2024
62f1306
include only geom states in init guess generations
Khaledwahba1994 Sep 9, 2024
0d24ff1
update envs to be consistent between opt and dbcbs
Khaledwahba1994 Sep 9, 2024
8d047fa
update db
Khaledwahba1994 Sep 9, 2024
cf2c020
add init_guess_cables.yaml
Khaledwahba1994 Sep 9, 2024
575abd0
update submodule
Khaledwahba1994 Sep 10, 2024
7495316
update submodule
Khaledwahba1994 Sep 10, 2024
b15608d
update example to avoid singularity in the jacobian
Khaledwahba1994 Sep 10, 2024
d7e3032
update submodule
Khaledwahba1994 Sep 15, 2024
34309ea
change cable constraints
Khaledwahba1994 Sep 15, 2024
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add the cables_integrator2_2d_window example
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@Khaledwahba1994
Khaledwahba1994 committed Aug 15, 2024
commit 1e6889ec6bb910cfaeb9ac94d4c301f1b58101cf
4 changes: 2 additions & 2 deletions example/2integrator2_2d_window.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ environment:
robots:
- type: double_integrator_0
start: [-1, 0.5, 0, 0]
goal: [1.5, 0.0, 0, 0]
goal: [0.5, 0.0, 0, 0]
- type: double_integrator_0
start: [-1, -0.5, 0, 0]
goal: [0.5, 0.0, 0, 0]
goal: [1.5, 0.0, 0, 0]
17 changes: 17 additions & 0 deletions example/cables_integrator2_2d_window.yaml
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@@ -0,0 +1,17 @@
environment:
min: [-2, -0.6]
max: [2, 0.6]
obstacles: []
# - type: box
# center: [0, 0.5, 0.0]
# size: [0.65, 0.2,1.0]
# - type: box
# center: [0, -0.5,0.0]
# size: [0.65, 0.2,1.0]
robots:
- type: DintegratorCables
start: [-1.0, 0.0, 1.57, -1.57, 0.0, 0.0, 0.0, 0.0]
goal: [ 1.0, 0.0, 3.14, 0.0, 0.0, 0.0, 0.0, 0.0]
l: [0.5, 0.5]
rp: 0.01
ri: 0.1