This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory.
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
The cost of a newly created Priority does not need to be finite.
An example occurs in the Pick+Place demo: the CurrentState solution
is filtered by an applicibility test, which may set the cost to infinity
while lifting the solution to the wrapper stage.
In this case, new InterfaceStates are created from the infinite cost solution.
Consequently, the state should be marked as PRUNED.
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>
- 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().
Implement Fallbacks behavior for children of type Connecting.
All other connect-like children are currently infeasible to handle,
because we cannot forward a single job, i.e. a pair (from, to)
to the next child, but only individual states.
However, passing states, will cause creation of undesired state pairs
as jobs in subsequent children.