Supplementary Material: Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization

John Schulman, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow and Pieter Abbeel

Experiments with Real 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

Experiments in simulation

Humanoid walking

Box picking. The box is subject to a partial orientation constraint, i.e., "this side up"