v4hn
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a9c9a61710
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add stub for pair iteration
This is not too hard, but takes a bit of time to get right,
so I'll add a stub for the moment.
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2017-03-06 19:34:11 +01:00 |
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v4hn
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57f974bfff
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implement missing connectToEnding method
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2017-03-06 19:06:22 +01:00 |
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v4hn
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5d41af19d1
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change gripper subtask to use EndEffector
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2017-03-06 15:08:32 +01:00 |
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v4hn
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fb532045fe
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generate_grasp_pose: utilize MoveIt's EndEffector model
This assumes the end-effector is properly setup in the srdf,
but simplifies setup of the subtask.
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2017-03-06 14:53:14 +01:00 |
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v4hn
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4637e1fffd
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add step size parameter to CartesianPositionMotion
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2017-03-06 14:37:30 +01:00 |
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v4hn
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be828860f4
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cartesian_position_motion: add beginning->end inference & mode_along
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2017-03-05 21:43:31 +01:00 |
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v4hn
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07b1a72030
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add planning pipeline to task and subtasks
This allows to plan in the subtasks without ROS communication
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2017-03-05 13:06:16 +01:00 |
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v4hn
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86c908861d
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cartesian_position_motion: refactored
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2017-03-04 16:59:24 +01:00 |
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v4hn
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70145aae29
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draft implementation of cartesian_position_motion - one way only for the moment
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2017-03-04 00:08:52 +01:00 |
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v4hn
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31c88bb9d6
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generate grasps: add GripperGraspPose
Otherwise this always uses the current gripper state.
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2017-03-03 12:17:57 +01:00 |
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v4hn
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30961436f1
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subtask: add has* functions to facilitate canCompute
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2017-03-02 19:35:31 +01:00 |
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v4hn
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9c5c87fc58
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generate_grasp_pose: add grasp offset
This (as probably known from many other implementations...) allows
to grasp the object with the end effector link being further away from it.
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2017-03-02 19:23:56 +01:00 |
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v4hn
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798f9c0839
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add angle delta for generate grasp poses
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2017-03-02 17:21:36 +01:00 |
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v4hn
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19c351b27d
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generate grasp poses: retrieve multiple IK solutions & check collisions
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2017-03-02 17:20:48 +01:00 |
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v4hn
|
34bd5f8614
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generate grasp poses: add time management
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2017-03-02 14:54:13 +01:00 |
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v4hn
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6e5308740b
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first incomplete version of GenerateGraspPose
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2017-03-02 00:40:51 +01:00 |
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v4hn
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cd6f2d74da
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add explicit destructor for Task
Without this rml_ would be deleted before all IK plugins are unloaded
and class_loader still can't handle this...
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2017-03-01 16:27:20 +01:00 |
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v4hn
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a1ef95300c
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add a simple printState function to task
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2017-03-01 16:17:09 +01:00 |
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v4hn
|
63e1d4fd78
|
reorder subtask get functions
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2017-03-01 16:09:54 +01:00 |
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v4hn
|
c77d9106a6
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introduce more interfaces / Gripper forward planning now works
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2017-03-01 15:19:30 +01:00 |
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v4hn
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039f1e6896
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Task now holds a PlanningScene
instead of just a RobotModel.
All generating subtasks need the scene,
so avoid every single one of them asking for it.
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2017-02-28 16:47:09 +01:00 |
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v4hn
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8af3645af9
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first implementation of subtask::CurrentState
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2017-02-28 15:37:25 +01:00 |
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v4hn
|
0e5d39a94d
|
introduce a number of interfaces as loose ends
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2017-02-28 15:27:05 +01:00 |
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v4hn
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bd67649fd2
|
first sketch of the graph design
+ skeleton of a first node "current_state"
+ vision of a test application
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2017-02-28 11:29:38 +01:00 |
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