Implements a generic pose randomizer
Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
* Refactor pipeline planner
Make code readable
Re-order plan functions
Make usable with parallel planning
Enable configuring multiple pipelines
Add callbacks
Cleanup and documentation
Add API to set parallel planning callbacks and deprecate functions
Pass pipeline map by reference
Small clang-tidy fix
Update core/src/solvers/pipeline_planner.cpp
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Update core/src/solvers/pipeline_planner.cpp
Format
Refactor to avoid calling .at(0) twice
Use no default stopping criteria
Update fallbacks_move demo
* Cleanup + address deprecation warnings
* Enabling optionally using a property defined pipeline planner map
* Address review
* Disable humble CI for ros2 branch
* Add pipeline planner unittests + some checks
* Add short comment
When adding pending state pairs for a new incoming state to Connect,
we have to re-enable opposite states from ARMED state.
This changes the order of states in the interface.
If we do this while iterating over the states, we might add pairs multiple times,
because iteration continues with same state at an earlier position.
- Add Stage::introspection() accessor
- Introspection: debug-log solution registration
- RemoteSolutionModel: show internal solution id as tooltip in 1st column
* improve demo rviz config
- orbit view centered at workspace instead of 2d orbit
- REALTIME trajectory display
* FixedState: setter for ignore_collisions property
* Fix clearance_cost demo
- verify default state
- use model frame over virtual "world" which is not known in fresh PlanningScene
- ignore initial collisions with the IK seed
* improve documentation in Fallbacks demo
- Declare CollisionObject argument as constant:
Internally the argument is temporarily modified, but for a caller it is effectively const.
- Correctly restore the old operation mode
- Fixup check in unit test
This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.