peg in hole mission

[liiijee-163]

Would this algorithm be better or worse for peg in hole tasks? I wonder if you have tried

[LemonPi]

Hi, I've used it in peg-in-hole tasks both in simulation as well as in the real world. Take a look at https://arxiv.org/pdf/2010.12516
with reproducible simulation code: https://github.com/UM-ARM-Lab/tampc

It depends on what kind of peg-in-hole task you want to perform. In this case the hole's approximate location was known and the controller helped it navigate to it exactly while bumping into obstacles. If the tolerance for your peg-in-hole is very tight then it would be a different kind of problem, however it should still be applicable.