Add live ik solutions to cbirrt #5385
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viambot
added
the
safe to test
dgottlieb
commented
Oct 17, 2025
| } | ||
| // constrainNear will ensure path between oldNear and newNear satisfies constraints along the way | ||
| near = &node{inputs: newNear} | ||
| near = &node{name: int(nodeNameCounter.Add(1)), inputs: newNear} |
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Not intended to be part of the final solution. But I found giving nodes a "name" to be useful. To verify, for instance, whether the goal node we eventually reached was a pregenerted IK solution or a live one fed midway.
dgottlieb
commented
Oct 17, 2025
| @@ -0,0 +1,2033 @@ | |||
| { | |||
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Probably need to add some test somewhere. Will move this or whatever we land on to the armplanning/data directory if we keep this PR open.
dgottlieb
commented
Oct 17, 2025
| "planner_options": { | ||
| "goal_metric_type": "squared_norm", | ||
| "arc_length_tolerance": 0, | ||
| "max_ik_solutions": 10, |
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Playing with this was useful for observing cbirrt
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Not a final "ready to merge" state. But need agreement on details of how to blend in new solutions. What I think I've found that's more important than anything else is that cbirrt can behave very erratically. When running against
main, scene 9 with max ik solutions changed to 3, we need "only" 65 rrt iterations to get an answer. Change the number of solutions to 4 and it now takes 249 rrt iterations.The only difference is that the new node generated is the new "optimal" node.
I think a better first step might be to add a "performance" test that isolates IK generation from cbirrt. Where we can feed cbirrt different subsets of the same IK solutions. That always including an actual "good" solution, which is not necessarily IK's "optimal" node. Just to understand what the deviations are.