In the following videos we show our optimization algorithm planning trajectories of various degrees of freedom (DOF) and then the execution of these trajectories on the Willow Garage PR2.
Picking up a crumpled piece of paper on the table and throwing it to the recycle bin under the table
Opening a door to grab a towel inside a room
Navigating through an office with various obstacles in the way
The box is subject to a partial orientation constraint, i.e., "this side up"
The robot must grasp the boxes and bring them to a drop-off location to its right.