Robert Haschke
6f7282423d
MPS: fixup processCollisionObject
...
- 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
2023-05-26 01:15:50 +02:00
Robert Haschke
3ec69fb59d
Merge PR #460 : improvements to ModifyPlanningScene stage
2023-05-25 22:29:31 +02:00
Robert Haschke
5382338933
Disable MPS tests, failing due to #432
2023-05-25 21:52:07 +02:00
Robert Haschke
397fc070ea
Fix SolutionBase::fillMessage(): also write start_scene
...
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().
2023-05-19 08:43:14 +02:00
Robert Haschke
bd400de184
Fix add/remove object in backward operation
...
- addObject() will actually remove the object from scene
- removeObject() is not supported (we would need to know which object to add)
2023-05-19 08:43:12 +02:00
Robert Haschke
1daef934ee
Add python binding for ModifyPlanningScene::removeObject
2023-05-19 08:43:12 +02:00
VideoSystemsTech
dee73b2dde
Expose argument of PipelinePlanner's constructor to Python ( #462 )
2023-05-16 14:32:17 +02:00
Robert Haschke
45ca1a67a9
TestModifyPlanningScene
2023-05-16 09:42:25 +02:00
Robert Haschke
b318c3cae9
Basic Move test: MoveRelative + MoveTo
2023-05-05 00:21:11 +02:00
Robert Haschke
84cb880a9d
Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool)
2023-05-05 00:21:11 +02:00
Robert Haschke
1002d84946
Add python binding for Task::insert
2023-05-04 23:22:49 +02:00
Robert Haschke
ede7cb71cc
Improve documentation ( #431 )
...
* Improve general description of stage and container types
* Clarify purpose of `CurrentState` stage
* Add troubleshooting section
2023-05-04 17:02:00 +02:00
Robert Haschke
a3cb8c6584
Fix: Fetch pybind11 submodule if not yet present
...
cmake's execute_process pipes COMMANDs together.
Thus, `git submodule update` received the output of `git submodule init` as input
and didn't do anything.
2023-02-28 11:15:05 +01:00
Robert Haschke
7926f69e97
Provide ComputeIK.ik_frame as full PoseStamped
...
Released MoveIt doesn't (yet) provide a conversion from string to PoseStamped.
2023-02-15 17:05:25 +01:00
Robert Haschke
885ac49ffb
Use MoveIt's roscpp_initialize
2023-02-15 17:05:25 +01:00
Robert Haschke
d95a2fc787
Use MoveIt's libmoveit_python_tools.so
...
Drop our own version of that lib and thus resolve a deploy conflict.
2023-02-15 14:30:14 +01:00
Robert Haschke
f2d97e524d
Fix odr compiler warning on build farm
...
https://build.ros.org/job/Ndev_db__moveit_task_constructor__debian_buster_amd64/3
2023-02-11 13:31:50 +01:00
Robert Haschke
f872d58520
Expose ContainerBase::childByIndex via operator[](int) ( #413 )
2022-12-12 20:44:37 +01:00
Robert Haschke
26c690c3b6
Merge PRs #412 (fix-ci) and #409 (more cost-terms)
2022-12-11 22:38:32 +01:00
Robert Haschke
33e9c5d212
Fix clang-tidy issues
2022-12-11 22:37:10 +01:00
Robert Haschke
ced37a029c
Update/Stick pybind11 to version 2.9.1-smart_holder
...
... to maintain compatibility with Python 3.6 and 2.7
2022-12-11 21:34:53 +01:00
Robert Haschke
7c35f6c580
Update/Stick pybind11 to version 2.9.1-smart_holder
...
... to maintain compatibility with Python 3.6 and 2.7
2022-12-11 17:42:07 +01:00
Robert Haschke
341f1838b5
Build python bindings with size optimization
2022-12-11 17:39:55 +01:00
Robert Haschke
4886fc3f7b
Expose CostTerms to python
2022-12-11 17:39:55 +01:00
Robert Haschke
de22cba99a
Fetch pybind11 submodule if not yet present
2022-12-09 09:05:17 +01:00
Robert Haschke
274c75f68f
Fix SimpleGrasp/SimpleUnGrasp wrapper
...
- Wrap common base class SimpleGraspBase to reduce redundancy
- Use correct defaults for stage name
2022-12-08 09:37:33 +01:00
Robert Haschke
7200bbbfb1
Fix base class for container stages Pick, Place, SimpleGrasp, SimpleUnGrasp
2022-12-08 08:59:41 +01:00
Robert Haschke
954089eae4
Merge PR #99 : Python API
...
... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
c1df1fbee8
[Container|Task]::add(...) for sequence (python)
2022-11-22 21:22:29 +01:00
Christian Petersmeier
1f330bed89
Reformat Documentation
...
- create tutorial, how-to-guide, topic and reference chapters
- move implementation examples from api documentation into
how-to-guides
- create a documentation overview on the first page
2022-03-10 13:33:10 +01:00
Robert Haschke
940a843f05
Rework stages doc
2022-03-10 13:33:06 +01:00
Robert Haschke
6ffc508225
Finetune solvers documentation
2022-03-03 10:50:30 +01:00
Robert Haschke
e77fa83a42
Rework core documentation
2022-03-03 10:50:30 +01:00
Christian Petersmeier
9103af2704
Rework python documentation
2022-03-03 10:50:30 +01:00
Robert Haschke
4b9e85395d
Fix pre-commit: python formatting
2022-01-07 16:20:42 +01:00
Robert Haschke
b28290c5b9
Rework doc for properties.cpp
...
- Use simple description strings
Only for multi-line doc strings, use C++11 raw string syntax `R"(...)"`
- Auto-generate signature
- Name arguments via `py::arg()`
2022-01-07 16:20:42 +01:00
Robert Haschke
11686468ad
Update rosdoc + sphinx config
2022-01-07 16:20:42 +01:00
Robert Haschke
cfcc7ba112
Improve top-level descriptions
2022-01-07 16:20:42 +01:00
Robert Haschke
603e337c77
fix typo
2022-01-07 16:20:42 +01:00
Robert Haschke
d732bfe3eb
Fix demo/scripts/fixed_state.py
2022-01-07 16:20:42 +01:00
cpetersmeier
1b1dadb94a
core python docs
...
- add python docs to core classes
- rework whats included in the docs and what not
2022-01-07 16:20:42 +01:00
cpetersmeier
923022c13b
stages docs and bindings
...
- pybind bindings for all the examples
- correctly format docstrings
2022-01-07 16:20:42 +01:00
cpetersmeier
f7c2fadde6
core docs, mwe monitoring generator
2022-01-07 16:20:42 +01:00
cpetersmeier
65bc0a8703
expand core docs, add detailed examples
2022-01-07 16:20:42 +01:00
cpetersmeier
4f53663756
add docstrings and mwe's
2022-01-07 16:20:42 +01:00
cpetersmeier
5207a8b2b5
comply to google format + add docstrings
2022-01-07 16:20:42 +01:00
cpetersmeier
0e7f2d5981
add docstrings, custom signatures
2022-01-07 16:20:42 +01:00
cpetersmeier
d1c947c973
add python docstrings
2022-01-07 16:20:42 +01:00
Robert Haschke
a08face4a0
Fixup: Provide wrapper for moveit::core::MoveItErrorCode
2022-01-07 16:20:04 +01:00
Robert Haschke
86093be94a
Merge branch 'master' into wip-python-api
2022-01-07 16:20:00 +01:00