Skip-optimality Problem

[Jiawei-00]

Hi
1.I am wonderingt that the parameter (use_rtree)in choose_least_cost_parent() function and rewire() funtion (RRT). Is it no longer necessary because we use numpy's calculation method?
2. When i run the informedrrt algorithm, the ellipse display of the graphic drawing does not appear as shown in the document. How can it be displayed？
I'm sorry to interrupt you from your busy schedule.

[soraxas]

Hi @Jiawei-00, yes currently rtree is not used for selecting the least cost parent.

As for your second question, there was an issue related to the initialisation-ordering in the code that causes the visualisation of the sampler not being used. The latest commit should have resolved it.

[Jiawei-00]

Thank you very much for your help. My problems have been solved. Thank you again.

[Jiawei-00]

Hi
sorry to bother you again @soraxas . When i run the code in the engine klampt, after the solution is found, the value of solution_cost will no longer change, and there is no way to continue updating to the optimal value. Is this reasonable? I don't know much about klampt.
I'm sorry to interrupt you from your busy schedule.

[soraxas]

Not too sure but there shouldn't be any differences regardless of where the environment is in 2D or 6D. However, generally higher d takes much longer to optimise the cost.

[Jiawei-00]

Thanks for your answer

[Jiawei-00]

Hi
sorry to bother you again and again @soraxas . I want to use your code in my actual robot arm (jaka arm). I am wondering how can i implement your algorithm (rrdt) in MoveIt. Could you give me some tips or references? If there are files related, could you send to my e-mail address ([email protected]). Thank you very very much for your kindness.
I'm sorry to interrupt you from your busy schedule again.

[Jiawei-00]

Your paper mentioned that you have done this before.Could you give me some suggestions ?