Commit Graph

1001 Commits

Author SHA1 Message Date
Captain Yoshi
1655762a63
Avoid duplicate scenes in Solution.msg from generator stages (#639)
Some checks failed
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
If start and end scene of a stage are identical (e.g. from a generator), we can use an (empty) scene diff as well.
2025-09-10 17:33:31 +02:00
Gauthier Hentz
7384702448
Allow max Cartesian link speed in PlannerInterface (#277)
Some checks are pending
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Waiting to run
CI / doc (push) Blocked by required conditions
CI / deploy (push) Blocked by required conditions
Format / pre-commit (push) Waiting to run
2025-09-10 14:30:26 +02:00
Robert Haschke
e9eab62f5f
Enable collisions visualizations (#708)
Some checks failed
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
2025-08-22 08:38:44 +02:00
Robert Haschke
336ad4456c
LimitSolutions wrapper stage (#710)
* Add python bindings for PassThrough
* Add LimitSolutions stage
2025-08-22 08:37:09 +02:00
Robert Haschke
bf001bd093 Improve code documentation
Some checks failed
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
2025-08-13 11:39:38 +02:00
Robert Haschke
87b3701223 CI: Fix Noble builds
Some checks failed
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
- Fix clang error
  https://stackoverflow.com/questions/27954940/a-using-statement-compiles-with-g-fails-compilation-with-clang
- Don't run pick-place test with asan: it doesn't finish.
- Add PIP_BREAK_SYSTEM_PACKAGES
- Fix coverage creation + upload
2025-08-11 14:57:29 +02:00
Robert Haschke
f3659da82b Pick with custom max_velocity_scaling_factor during approach+lift 2025-08-10 11:53:09 +02:00
Robert Haschke
24f22484ca Rework pybind11 ABI compatibility checks
Some checks are pending
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.5 -e LSAN_OPTI… (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Waiting to run
CI / doc (push) Blocked by required conditions
CI / deploy (push) Blocked by required conditions
Format / pre-commit (push) Waiting to run
2025-08-10 11:53:09 +02:00
Robert Haschke
717771e25a Remove pybind11 submodule 2025-08-10 11:53:09 +02:00
Robert Haschke
d19b77782d Upgrade pybind11 to v3 2025-08-10 10:10:53 +02:00
Robert Haschke
580dac9151 Modernize declaration of compile options 2025-08-07 12:42:39 +02:00
Robert Haschke
5ec63045e8 Factor out Python property handling
... to allow for reuse in custom Python wrappers
2025-08-07 12:42:39 +02:00
Captain Yoshi
a0da41a4aa
Fix clamping of joint constraints (#665)
Some checks failed
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci TARGET_CMAKE_ARGS:-DC… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.5 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
Do not enforce position bounds (by clamping to valid positions), but let the stage fail if joints are outside the limits.
2025-02-25 13:12:53 +01:00
Robert Haschke
bad8e13254 Fix error message
... due to copy-paster error in 9ea1692f96
2025-02-11 08:10:18 +01:00
Robert Haschke
9ea1692f96
Correctly report failures instead of issueing console warnings
Don't use command-line warnings, but spawn failure solutions.
2025-02-06 15:09:15 +01:00
Robert Haschke
8318546992 Increase minimum required CMake version to 3.16
supported by Ubuntu 20.04
2025-01-19 15:55:58 +01:00
Robert Haschke
d2c5150ec9 Python API: Allow passing a task's introspection object to SolutionBase::toMsg()
which is a prerequisite for correct filling of IDs.
2025-01-13 14:30:41 +01:00
Ali Haider
a924b566fb
Fix typo 2025-01-05 23:09:58 +01:00
Robert Haschke
4dfcf09516 clang-format-14 2024-12-22 14:09:08 +01:00
Robert Haschke
cd0ab8838c CI: Add Noble build 2024-12-22 14:09:08 +01:00
Robert Haschke
8c0609a711 clang-tidy fixes: std::endl -> '\n' 2024-12-22 12:29:05 +01:00
Robert Haschke
45ea86c163 clang-tidy fixes: use uint8_t enums 2024-12-22 12:28:58 +01:00
Robert Haschke
5067dbb432 clang-tidy fixes 2024-12-22 12:28:26 +01:00
JafarAbdi
5d23cb89df Add support for GenerateRandomPose 2024-12-09 09:53:07 +01:00
Robert Haschke
f29784e750 Improve error message
Indicate source of error as CartesianPath.
2024-12-06 12:07:15 +01:00
JafarAbdi
f5a0a545e5 python: Add Task::setRobotModel 2024-12-04 13:26:33 +01:00
Robert Haschke
821b5951f1 Silent pybind11 warning 2024-12-02 11:21:22 +01:00
Robert Haschke
0a502ce7fe Add path_constraints property to Connect stage 2024-10-11 22:11:33 +02:00
Michael Görner
721ff356b7
provide a fmt wrapper (#615)
for special eigen formatter, which is not available in fmt9

https://github.com/fmtlib/fmt/issues/3465
https://stackoverflow.com/a/73755864/21260084
2024-09-24 20:41:12 +02:00
Robert Haschke
99ccc115e0
Update API: JumpThreshold -> CartesianPrecision (#611)
Python: Access properties via writable references
This allows to modify properties in place, e.g. cartesian_solver.precision.translational = 0.01
2024-09-17 10:59:14 +02:00
Robert Haschke
184d39897a Add missing test dependency 2024-09-02 11:20:45 +02:00
Captain Yoshi
fdc06c3b91
Reduce stop time due to preempt (#598)
The preempt_request_ flag was only checked at the top-level task container before each compute iteration.
As a single sweep might take a while, we should check the flag before computing each stage.
2024-07-19 15:46:12 +02:00
Robert Haschke
7631486648
Add unittest for #581 2024-07-17 15:10:53 +02:00
Captain Yoshi
cd28bdcd1f
Fix early planning preemption (#597)
Calling preempt() before plan() is able to reset the preempt_requested_ flag causes the preemption request to get lost. To avoid this issue, we allow a) manual resetting of the request and b) reset the request before leaving plan().
2024-07-17 14:56:01 +02:00
Paul Gesel
60ccd74443
MoveRelative: fix segfault on empty trajectory (#595)
Check that at least one robot state exists in the robot trajectory before accessing it.

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
2024-07-16 17:18:16 +02:00
Robert Haschke
2e9a223827
MoveRelative: handle equal min/max distance (#593)
When min_distance == max_distance > 0.0, the minimal distance might be missed due to numerical errors.
To avoid this, deactivate the minimal distance check and run the full distance as given by max_distance.
2024-07-16 08:24:55 +02:00
Robert Haschke
8d2baf2739 Cleanup unit tests
... and allow them to run via both, cmdline and pytest
2024-07-13 01:59:22 +02:00
Robert Haschke
6d376fb8b9 Connect: Relax validity check of reached end state 2024-07-12 06:31:33 +02:00
Robert Haschke
0fed09d431 Unify Python demo scripts 2024-07-12 06:31:33 +02:00
Robert Haschke
93ef98ad67 Switch shebang to python3 2024-07-11 15:44:28 +02:00
Robert Haschke
4debc37904 Silence gcc's overloaded-virtual warnings 2024-07-11 09:50:35 +02:00
Robert Haschke
fbc05e4496
Add property to enable/disable pruning at runtime (#590) 2024-07-06 16:51:14 +02:00
Robert Haschke
907014cd57 Disable pruning by default 2024-07-04 12:05:31 +02:00
Robert Haschke
93a3964138 test_pruning.cpp: Add new test 2024-07-04 11:57:31 +02:00
Robert Haschke
48bde8daab test_pruning.cpp: Extend test to ParallelContainer 2024-07-04 11:57:31 +02:00
Robert Haschke
42a08d6444 PassThrough: cleanup unused headers 2024-07-04 11:57:31 +02:00
Robert Haschke
a84479cc58 Avoid segfault if TimeParameterization is not set 2024-07-03 09:32:30 +02:00
Robert Haschke
b1336dc210 CartesianPath: allow ik_frame definition
... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Robert Haschke
177e19de1f Generalize utils::getRobotTipForFrame()
... to return error_msg instead of calling markAsFailure() on a solution
2024-06-29 17:55:45 +02:00
Robert Haschke
8fa66a6d2c Update pybind11 to version 2.12.0
Currently used branch was not interoperable with a standard version of pybind11.
2024-05-29 15:43:46 +02:00