Commit Graph

1423 Commits

Author SHA1 Message Date
Robert Haschke
e9eab62f5f
Enable collisions visualizations (#708)
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2025-08-22 08:38:44 +02:00
Robert Haschke
336ad4456c
LimitSolutions wrapper stage (#710)
* Add python bindings for PassThrough
* Add LimitSolutions stage
2025-08-22 08:37:09 +02:00
Dhruv Patel
ed99e6b865
Add missing include fmt/ranges.h (#712)
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Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com>
2025-08-17 07:18:57 +02:00
Robert Haschke
bf001bd093 Improve code documentation
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2025-08-13 11:39:38 +02:00
Robert Haschke
87b3701223 CI: Fix Noble builds
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- Fix clang error
  https://stackoverflow.com/questions/27954940/a-using-statement-compiles-with-g-fails-compilation-with-clang
- Don't run pick-place test with asan: it doesn't finish.
- Add PIP_BREAK_SYSTEM_PACKAGES
- Fix coverage creation + upload
2025-08-11 14:57:29 +02:00
Robert Haschke
86f0083566 CI: Drop Noetic build 2025-08-11 10:04:16 +02:00
Robert Haschke
f3659da82b Pick with custom max_velocity_scaling_factor during approach+lift 2025-08-10 11:53:09 +02:00
Robert Haschke
24f22484ca Rework pybind11 ABI compatibility checks
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2025-08-10 11:53:09 +02:00
Robert Haschke
717771e25a Remove pybind11 submodule 2025-08-10 11:53:09 +02:00
Robert Haschke
d19b77782d Upgrade pybind11 to v3 2025-08-10 10:10:53 +02:00
Robert Haschke
c6521551a4 Update pre-commit versions 2025-08-07 12:42:39 +02:00
Robert Haschke
580dac9151 Modernize declaration of compile options 2025-08-07 12:42:39 +02:00
Robert Haschke
5ec63045e8 Factor out Python property handling
... to allow for reuse in custom Python wrappers
2025-08-07 12:42:39 +02:00
Robert Haschke
0cc398797f CI: Add noble-ci-testing
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2025-05-02 10:48:26 +02:00
Robert Haschke
5a0059dc83 Fix pick+place: connect should plan both, arm and hand motion
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2025-04-29 14:25:35 +02:00
Captain Yoshi
a0da41a4aa
Fix clamping of joint constraints (#665)
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Do not enforce position bounds (by clamping to valid positions), but let the stage fail if joints are outside the limits.
2025-02-25 13:12:53 +01:00
Robert Haschke
bad8e13254 Fix error message
... due to copy-paster error in 9ea1692f96
2025-02-11 08:10:18 +01:00
Robert Haschke
9a98a252a0
Provide action feedback during task execution (#653) 2025-02-11 07:28:05 +01:00
Robert Haschke
9ea1692f96
Correctly report failures instead of issueing console warnings
Don't use command-line warnings, but spawn failure solutions.
2025-02-06 15:09:15 +01:00
Robert Haschke
8318546992 Increase minimum required CMake version to 3.16
supported by Ubuntu 20.04
2025-01-19 15:55:58 +01:00
Robert Haschke
d2c5150ec9 Python API: Allow passing a task's introspection object to SolutionBase::toMsg()
which is a prerequisite for correct filling of IDs.
2025-01-13 14:30:41 +01:00
Ali Haider
a924b566fb
Fix typo 2025-01-05 23:09:58 +01:00
Robert Haschke
2d0244b921 CI: Fix doc job 2024-12-26 13:22:38 +01:00
Robert Haschke
4dfcf09516 clang-format-14 2024-12-22 14:09:08 +01:00
Robert Haschke
cd0ab8838c CI: Add Noble build 2024-12-22 14:09:08 +01:00
Robert Haschke
8c0609a711 clang-tidy fixes: std::endl -> '\n' 2024-12-22 12:29:05 +01:00
Robert Haschke
45ea86c163 clang-tidy fixes: use uint8_t enums 2024-12-22 12:28:58 +01:00
Robert Haschke
5067dbb432 clang-tidy fixes 2024-12-22 12:28:26 +01:00
Robert Haschke
28b3e24a26 CI: Drop obsolete clang-tidy option AnalyzeTemporaryDtors 2024-12-21 17:41:29 +01:00
JafarAbdi
5d23cb89df Add support for GenerateRandomPose 2024-12-09 09:53:07 +01:00
Robert Haschke
f29784e750 Improve error message
Indicate source of error as CartesianPath.
2024-12-06 12:07:15 +01:00
Robert Haschke
d5e1376b08 Add Jammy build 2024-12-04 14:23:44 +01:00
JafarAbdi
f5a0a545e5 python: Add Task::setRobotModel 2024-12-04 13:26:33 +01:00
Robert Haschke
821b5951f1 Silent pybind11 warning 2024-12-02 11:21:22 +01:00
Robert Haschke
1acf72e0b4 examples: add orientation path constraint
constrained.py: constrain orientation of attached object
pickplace.py: keep object upright during transport
2024-10-15 17:07:17 +02:00
Robert Haschke
69b4606bca CI: Return to custom cache action 2024-10-13 23:53:06 +02:00
Robert Haschke
0a502ce7fe Add path_constraints property to Connect stage 2024-10-11 22:11:33 +02:00
Michael Görner
721ff356b7
provide a fmt wrapper (#615)
for special eigen formatter, which is not available in fmt9

https://github.com/fmtlib/fmt/issues/3465
https://stackoverflow.com/a/73755864/21260084
2024-09-24 20:41:12 +02:00
Michael Görner
d50c846a7b
Ignore Debian-specific catkin_lint error around urdfdom_headers (#614)
Without the patch:

$ catkin_lint rviz_marker_tools/
rviz_marker_tools: package.xml: error: missing build_depend on 'urdfdom_headers'

requires catkin_lint 1.6.24 for successful error suppression.
2024-09-24 20:32:42 +02:00
Robert Haschke
99ccc115e0
Update API: JumpThreshold -> CartesianPrecision (#611)
Python: Access properties via writable references
This allows to modify properties in place, e.g. cartesian_solver.precision.translational = 0.01
2024-09-17 10:59:14 +02:00
Michael Görner
5a44808146
clean up dependencies for rviz_marker_tools (#610)
liburdfdom-dev is not actually used. Only liburdfdom-headers-dev.
2024-09-02 22:52:47 +02:00
Robert Haschke
184d39897a Add missing test dependency 2024-09-02 11:20:45 +02:00
Robert Haschke
237a07f96f CI: Update actions 2024-09-02 09:25:12 +02:00
Captain Yoshi
fdc06c3b91
Reduce stop time due to preempt (#598)
The preempt_request_ flag was only checked at the top-level task container before each compute iteration.
As a single sweep might take a while, we should check the flag before computing each stage.
2024-07-19 15:46:12 +02:00
Robert Haschke
4f69a22ddb Silent error "Found empty JointState message" 2024-07-18 13:48:32 +02:00
Robert Haschke
7631486648
Add unittest for #581 2024-07-17 15:10:53 +02:00
Captain Yoshi
cd28bdcd1f
Fix early planning preemption (#597)
Calling preempt() before plan() is able to reset the preempt_requested_ flag causes the preemption request to get lost. To avoid this issue, we allow a) manual resetting of the request and b) reset the request before leaving plan().
2024-07-17 14:56:01 +02:00
Paul Gesel
60ccd74443
MoveRelative: fix segfault on empty trajectory (#595)
Check that at least one robot state exists in the robot trajectory before accessing it.

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
2024-07-16 17:18:16 +02:00
Robert Haschke
2e9a223827
MoveRelative: handle equal min/max distance (#593)
When min_distance == max_distance > 0.0, the minimal distance might be missed due to numerical errors.
To avoid this, deactivate the minimal distance check and run the full distance as given by max_distance.
2024-07-16 08:24:55 +02:00
Robert Haschke
8d2baf2739 Cleanup unit tests
... and allow them to run via both, cmdline and pytest
2024-07-13 01:59:22 +02:00