v4hn
d48f7519cf
convert gripper subtask to planning_pipeline
...
This relies on `MoveGroupInterface::constructMotionPlanRequest()` which
is not yet upstream.
This change is required to directly pass the relevant planning scene
in there instead of sending *just the start RobotState* to the action.
This allows subtasks to change other aspects of the scene, e.g.
allowed collisions or new collision objects.
2017-03-05 13:12:50 +01:00
v4hn
07b1a72030
add planning pipeline to task and subtasks
...
This allows to plan in the subtasks without ROS communication
2017-03-05 13:06:16 +01:00
v4hn
0a6b3181be
plan_pick: reduce number of possible approaches
2017-03-04 17:06:05 +01:00
v4hn
7910e23adb
remove hardcoded name of robot model in trajectory
2017-03-04 17:01:54 +01:00
v4hn
42b78eb8c5
don't reprint state at end of plan_pick
2017-03-04 17:00:02 +01:00
v4hn
86c908861d
cartesian_position_motion: refactored
2017-03-04 16:59:24 +01:00
v4hn
2962ba65d9
cartesian_position_motion: state is valid if *not* colliding
2017-03-04 16:56:15 +01:00
v4hn
70145aae29
draft implementation of cartesian_position_motion - one way only for the moment
2017-03-04 00:08:52 +01:00
v4hn
31c88bb9d6
generate grasps: add GripperGraspPose
...
Otherwise this always uses the current gripper state.
2017-03-03 12:17:57 +01:00
v4hn
d1def8235c
add generate grasp pose to plan_pick
...
This doesn't make much sense, but it's nice to see
the structure does not directly fall apart :)
2017-03-02 20:33:01 +01:00
v4hn
30961436f1
subtask: add has* functions to facilitate canCompute
2017-03-02 19:35:31 +01:00
v4hn
9c5c87fc58
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.
2017-03-02 19:23:56 +01:00
v4hn
42fb4c147b
gengrasppose: produce better output
2017-03-02 17:41:28 +01:00
v4hn
a346b64e35
test_plan_gen_grasp_pose: clean exit
2017-03-02 17:36:19 +01:00
v4hn
a2ce5909a1
task: abort if nothing could compute
2017-03-02 17:35:31 +01:00
v4hn
f247901623
generate grasp pose: store colliding states as infeasible solutions
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This way there is no need to do collision checking for this solution again
2017-03-02 17:24:21 +01:00
v4hn
c3c6d899cb
fix implicit copy
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It seems (not verified) the vector is copied here by bind.
Instead, let's pass a pointer.
2017-03-02 17:23:13 +01:00
v4hn
798f9c0839
add angle delta for generate grasp poses
2017-03-02 17:21:36 +01:00
v4hn
19c351b27d
generate grasp poses: retrieve multiple IK solutions & check collisions
2017-03-02 17:20:48 +01:00
v4hn
34bd5f8614
generate grasp poses: add time management
2017-03-02 14:54:13 +01:00
v4hn
5ff374a551
remove superfluous include
2017-03-02 13:39:13 +01:00
v4hn
e3604eab38
stub: plan ad infinitum and print after each iteration
2017-03-02 13:37:28 +01:00
v4hn
6e5308740b
first incomplete version of GenerateGraspPose
2017-03-02 00:40:51 +01:00
v4hn
cd6f2d74da
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...
2017-03-01 16:27:20 +01:00
v4hn
a1ef95300c
add a simple printState function to task
2017-03-01 16:17:09 +01:00
v4hn
63e1d4fd78
reorder subtask get functions
2017-03-01 16:09:54 +01:00
v4hn
2e190cfd7d
enable open-gripper in plan_pick
2017-03-01 15:44:19 +01:00
v4hn
c77d9106a6
introduce more interfaces / Gripper forward planning now works
2017-03-01 15:19:30 +01:00
v4hn
651fd9a946
activate CurrentState in plan_pick
2017-02-28 17:09:58 +01:00
v4hn
039f1e6896
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.
2017-02-28 16:47:09 +01:00
v4hn
8af3645af9
first implementation of subtask::CurrentState
2017-02-28 15:37:25 +01:00
v4hn
0bcef6b07c
stub planning by calling each subtask once
2017-02-28 15:36:43 +01:00
v4hn
0e5d39a94d
introduce a number of interfaces as loose ends
2017-02-28 15:27:05 +01:00
v4hn
bd67649fd2
first sketch of the graph design
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+ skeleton of a first node "current_state"
+ vision of a test application
2017-02-28 11:29:38 +01:00
v4hn
e2b3cdb27d
add gitignore for vim swp
2017-02-28 11:12:18 +01:00
v4hn
bb1d072418
initial commit
...
add a test binary for later use.
2017-02-27 11:49:22 +01:00