Interactive Plotting with Dash and Plotly
for trajectory optimization and sampling-based motion planning
Pang
Some exciting results for planning through contact (joint work with Terry and Lu)
Rotate ball by 180 degrees in 2D/3D
Pick up the book
Open the door
A plan like this can be found in less than 20s.
Complex tasks need interactive tools and visualization.
Dash and Plotly
- Plotly creates plots, similar to matplotlib. But the plots can be viewed in a browser!
- Dash arranges plots and components like drop-down menus into an interactive app (dashboard).
- The app runs in a browser (easy meshcat integration and website deployment).
slider
plots
dropdown menus
Trajectory optimization
- Different initial conditions?
- Different goals?
- Different algorithms? (smoothing schemes).
python3 ./examples/planar_hand/dash_trj_opt_interactive.py
RRT through contact
- How does the tree grow?
- Where are the subgoals?
- Which node is the nearest?
- How much does it extend?
- What if my C-space has more than 3 dimensions?
./dash_vis/dash_tree_vis.py examples/planar_hand/tree_2000_planar_hand_random_grasp.pkl --two_d
Planning for door opening
./dash_vis/dash_tree_vis.py examples/allegro_hand_door/tree_traj_opt_local_u_100_0.pklspring2022_short
By Pang
