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Slerp #27

Merged
merged 63 commits into from
May 6, 2019
Merged

Slerp #27

merged 63 commits into from
May 6, 2019

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ichumuh
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@ichumuh ichumuh commented May 6, 2019 •
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  • optional slerp
  • if as symengine function
  • robot class refactored
    • merged urdf object, symengine robot and world object into one robot class
    • no more synchronization problems
    • urdf can get completely changed during runtime, including adding and removing controllable joints
  • world class refactored -- should be easier to replace pybullet
  • world object class refactored
  • tested during donbot pick&place demo
  • added a lot of tests

ichumuh added 30 commits February 19, 2019 15:24
@ichumuh
started to refactor robot class
f7761f7
@ichumuh
implemented new URDFObject
b08d3e4
@ichumuh
new symengine robot and tests
b8922ad
@ichumuh
new world and world object classes and pybullet implementations of those
c0e5532
@ichumuh
done with new urdf/worldobject and their pybullet implementations
76ba7fe
@ichumuh
started to integrate new robot/world
99c5b24
@ichumuh
stuff
e98a3e6
@ichumuh
fixed symengine bugs
39252b7
@ichumuh
successfull cart movement
9bd9545
@ichumuh
fixed cart movements
2da7021
@ichumuh
added more tests and bug fixes for new world and objects
6a95a96
@ichumuh
fixed more tests
f2f0495
@ichumuh
fixed visualization
9aab113
@ichumuh
fixed test_avoid_self_collision
2500e3d
@ichumuh
fixed test_avoid_collision
2b3bd57
@ichumuh
fixed test_avoid_all_collision
1a1959c
@ichumuh
default joint weight and vel are read from god map
65e01d9
@ichumuh
changed default root for pr2 tests to base_link
4ffc201
@ichumuh
improved debug code in qp problem builder
f28a359
@ichumuh
implemented detach from robot through world
a1162b0
@ichumuh
fixed test_attached_collision1
59ee2ac
@ichumuh
fixed test_pick_and_place
58b7c1c
@ichumuh
fixed two god map tests and removed unused object.py
96ed20a
@ichumuh
removed unused code
c7d038f
@ichumuh
fixed set joint state of non robot world objects
6fc71e5
@ichumuh
fixed all the tests
6ca4731
@ichumuh
fixed donbot tests
9d1f202
@ichumuh
made things faster
835c6a3
@ichumuh
added option to use slerp
0b3102d
@ichumuh
removed old launch file
4f83c80
ichumuh and others added 28 commits March 28, 2019 11:26
@ichumuh
pluginbehavior can use normal behaviors now
71423d0
@ichumuh
pluginbehaviors add plugin does not require a name anymore
463d2f8
@ichumuh
optimized imports
49549b0
@ichumuh
fixed bug in visualization behavior
4b371d1
@ichumuh
fixed bug when object with the same name is attached twice
6e9a45c
@ichumuh
fixed bug in closest point calculation
002ef8a
@ichumuh
added more tests for collision matrix computation
151b966
@ichumuh
fixed all collisionentry tests
62c6bf0
@ichumuh
fixed test allow self collision 3
b4aa240
@ichumuh
fixed test_pybullet_world
db25331
@ichumuh
fixed test_pick_and_place
cae4145
@ichumuh
fixed test_set_kitchen_joint_state
0fbf207
@ichumuh
all tests pass
a97f1c5
@ichumuh
sped up VisualizationBehavior
056d0fd
@ichumuh
sped up VisualizationBehavior
f16faf5
@ichumuh
fixed all the tests
1248c91
@ichumuh
fixed bug when adding objects twice
0d842bd
@ichumuh
made it less likely that robot is out of sync when starting to plan
0612685
@ichumuh
using ros behavior trees for better debugging
c58345e
@ichumuh
updated python interface
7dca0ef
@ichumuh
fixed a collision avoidance bug
1b75aba
@ichumuh
sped up calculation of self collision matrix when attaching objects a…
8858fb0 
… bit
added add_mesh to python interface
88aa970
@ichumuh
added pick up spoon test
d2a4af8
@ichumuh
fixed allow_all_collisions in python interface
4c640b5
@ichumuh
bug fix: link_bs in collision entires are no longer ignored if body_b…
31bde57 
…!=robot
@ichumuh
objects are not being removed twice anymore
30682a5
@ichumuh
added test_tray
8bb2bb7
@ichumuh ichumuh merged commit 1446d42 into devel May 6, 2019
@ichumuh ichumuh deleted the slerp branch September 7, 2020 10:12
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@ichumuh