The scene_diff field usually describes PlanningScene changes of the end scene relative to the start scene.
For backwards planning, this direction is reversed: the start scene is derived from the end scene.
Thus, we need to generate a full planning scene message for the end scene if planning progressed backwards.
Fixes#405.
Joints are handled in trajectories.
Scene diffs should not modify joints during execution.
Fixes#353.
Alternative to #504. The previous solution, to always clear the joint states
during message generation, broke the visualization in rviz.
Need to generate full planning scene message if planning progressed backwards:
The scene_diff field describes PlanningScene changes of the end scene relative to the start scene,
while during planning it might be inversed.
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>
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