Abishalini
e09fecd71f
Propagate errors from planners to solution comment ( #525 )
2024-03-08 11:13:10 +01:00
Robert Haschke
d0a904c313
Add property trajectory_execution_info ( #355 , #502 )
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... to pass a list of controller names to PlanExecution
---------
Co-authored-by: Luca Lach <llach@techfak.uni-bielefeld.de>
2024-03-07 20:01:03 +01:00
Henning Kayser
111d9ba207
Add GenerateRandomPose stage ( #166 )
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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>
2024-03-06 22:32:13 +01:00
Captain Yoshi
911bc67c4d
GenerateGraspPose: Expose rotation_axis as property ( #535 )
2024-03-06 11:02:44 +01:00
Captain Yoshi
5720b83dce
Connect: ensure end-state matches goal state ( #532 )
2024-02-25 16:58:56 +01:00
Robert Haschke
bf2714b42d
printPendingPairs(os) -> os<<pendingPairsPrinter()
2023-10-25 22:21:36 +02:00
Robert Haschke
7b965863e3
Add more debugging output
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- Add Stage::introspection() accessor
- Introspection: debug-log solution registration
- RemoteSolutionModel: show internal solution id as tooltip in 1st column
2023-10-25 22:19:49 +02:00
Michael Görner
ab4bb40dfd
Fix demos ( #493 )
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* 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
2023-10-11 14:30:54 +02:00
Robert Haschke
6f7282423d
MPS: fixup processCollisionObject
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- 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
397fc070ea
Fix SolutionBase::fillMessage(): also write start_scene
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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
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- 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
d1a6916206
Stage::explainFailure() ( #445 )
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... to facilitate spotting the stage causing a task to fail
2023-05-04 17:07:11 +02:00
Robert Haschke
b346e7eb78
Task: findChild() and operator[] should directly operate on stages() ( #435 )
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Considering the (fixed) name of the top-level container is meaningless.
2023-05-04 15:23:23 +02:00
Robert Haschke
f07b81fcd0
cleanup
2023-05-04 14:26:34 +02:00
Robert Haschke
ca1c7c7e24
Fix typo
2023-02-28 11:13:24 +01:00
Robert Haschke
db6d90ab69
CartesianPath: Deprecate redundant property setters
2023-02-17 22:37:49 +01:00
Robert Haschke
6dc70b1d49
PlannerInterface: provide "timeout" property
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The MultiPlanner requires to set individual timeouts for its planners.
2023-02-17 18:28:02 +01:00
Robert Haschke
573858e51a
PlannerInterface: provide setters for properties
2023-02-17 17:33:06 +01:00
Robert Haschke
052a56a333
Add MultiPlanner solvers
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a planner that tries multiple planners in sequence
2023-02-17 17:33:06 +01:00
Robert Haschke
d95a2fc787
Use MoveIt's libmoveit_python_tools.so
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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
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https://build.ros.org/job/Ndev_db__moveit_task_constructor__debian_buster_amd64/3
2023-02-11 13:31:50 +01:00
Jochen Sprickerhof
770a8a0b17
Fix call of PropagatingEitherWay::computeGeneric()
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computeGeneric is templated and private so it will be undefined in the
shared object and when using the computeForward/Backward functions.
2023-01-04 21:39:33 +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
4886fc3f7b
Expose CostTerms to python
2022-12-11 17:39:55 +01:00
Robert Haschke
6de570c7a6
new TrajectoryCostTerm: DistanceToReference
2022-12-09 11:19:41 +01:00
Robert Haschke
a9b4947845
PathLength: allow weighting of different joints
2022-12-09 10:16:19 +01:00
Robert Haschke
954089eae4
Merge PR #99 : Python API
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... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
164ce4eab8
clang-tidy: fix variable/method naming
2022-11-03 18:30:21 +01:00
Robert Haschke
7d5f9fe6e3
Fix clang-tidy warnings
2022-11-02 18:44:38 +01:00
Robert Haschke
fd123cc4a7
Fix handling of ik_frame in Cartesian path planning
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The ik_frame should move in a straight-line Cartesian path.
However, so far the link frame was following a Cartesian path.
2022-10-31 19:53:07 +01:00
Robert Haschke
28fb974adb
Remove MoveIt compatibility code
2022-10-23 22:16:58 +02:00
Robert Haschke
d2918f130d
Pruning: Relax too strong assertion: PRUNED => !ARMED ( #340 )
2022-05-08 11:56:17 +02:00
Robert Haschke
9026ac8746
Make TimeParamerization configurable ( #339 )
2022-05-08 11:54:05 +02:00
Robert Haschke
5310f9063a
operator<< for Interface::Direction
2022-03-04 13:13:01 +01:00
Robert Haschke
ca38d11303
Enable InterfaceState's copy operator
2022-02-02 20:51:58 +01:00
Robert Haschke
86093be94a
Merge branch 'master' into wip-python-api
2022-01-07 16:20:00 +01:00
Robert Haschke
c7b2067b86
Merge PR #309 : Fix Pruning
2022-01-05 20:19:51 +01:00
Robert Haschke
5956e70956
Merge PR #311 : fix Fallbacks
2022-01-05 19:49:38 +01:00
Robert Haschke
4cc1f567d6
FallbacksPrivateConnect
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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.
2022-01-05 18:16:34 +01:00
Robert Haschke
7a04a9f603
ParallelContainerBasePrivate::propagateStateTo*All*Children
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rename method to emphasize that state updates are propagated to all children
2022-01-05 16:45:57 +01:00
Robert Haschke
986d3c8766
FallbacksPrivateCommon: shared between Generator + Propagator
2022-01-05 16:45:57 +01:00
Robert Haschke
b82b70ed64
FallbacksPrivate::nextChild()
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... factoring out functionality shared between FallbacksPrivateGenerator
and FallbacksPrivatePropagator to switch to next child in nextJob().
2022-01-05 16:37:46 +01:00
Robert Haschke
442d39ad3e
Improve comments
2022-01-05 16:37:46 +01:00
Jafar Abdi
7dbe0b87e1
Return MoveItErrorCode from task::plan ( #319 )
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... to know whether the plan failed due to timeout, preemption, or actual planning failure
2022-01-02 15:32:37 +01:00
Robert Haschke
4be448641f
Improve debug output
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- printChildrenInterfaces(): fix/add usage
- printPendingPairs(): full colorization according to status
2021-11-28 18:28:20 +01:00
Robert Haschke
e296bd7aed
Simplify: job_has_solutions_
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Just set a flag when we received a full solution
2021-11-25 07:37:28 +01:00
Robert Haschke
7237e81547
Rework FallbacksPrivate*
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Further factorize and simplify FallbacksPrivate classes employing ideas from @v4hn.
The key difference between the variants his how they advance to the next job.
Thus, the only virtual method required is nextJob().
2021-11-25 07:36:32 +01:00
Robert Haschke
8dd8022ef9
Factorize implementation of FallbacksPrivate into 3 classes
2021-11-24 21:17:49 +01:00