Code

Slerp#27

Code

Merged

ichumuh merged 63 commits intodevelSemRoCo/giskardpy:develfrom slerpSemRoCo/giskardpy:slerpCopy head branch name to clipboardMay 6, 2019

+5,935-3,765

Commits

Commits on Feb 19, 2019

• started to refactor robot class

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Commits on Mar 1, 2019

• implemented new URDFObject

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• new symengine robot and tests

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Commits on Mar 5, 2019

• new world and world object classes and pybullet implementations of those

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Commits on Mar 6, 2019

• done with new urdf/worldobject and their pybullet implementations

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Commits on Mar 8, 2019

• started to integrate new robot/world

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Commits on Mar 11, 2019

• stuff

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Commits on Mar 14, 2019

• fixed symengine bugs

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• successfull cart movement

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Commits on Mar 15, 2019

• fixed cart movements

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• added more tests and bug fixes for new world and objects

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Commits on Mar 18, 2019

• fixed more tests

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• fixed visualization

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• fixed test_avoid_self_collision

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• fixed test_avoid_collision

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• fixed test_avoid_all_collision

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• default joint weight and vel are read from god map

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Commits on Mar 19, 2019

• changed default root for pr2 tests to base_link

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• improved debug code in qp problem builder

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• implemented detach from robot through world

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• fixed test_attached_collision1

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Commits on Mar 20, 2019

• fixed test_pick_and_place

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• fixed two god map tests and removed unused object.py

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• removed unused code

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• fixed set joint state of non robot world objects

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Commits on Mar 21, 2019

• fixed all the tests

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• fixed donbot tests

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Commits on Mar 22, 2019

• made things faster

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Commits on Mar 26, 2019

• added option to use slerp

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• removed old launch file

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Commits on Mar 27, 2019

• turned plot traj into a parameter

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• added plot traj param to tests

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• reduced sampling rate for pr2 tests

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• added joint movement test for donbot

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Commits on Mar 28, 2019

• added from object state constructor to urdf object

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• pluginbehavior can use normal behaviors now

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• pluginbehaviors add plugin does not require a name anymore

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• optimized imports

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  49549b0

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• fixed bug in visualization behavior

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• fixed bug when object with the same name is attached twice

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• fixed bug in closest point calculation

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Commits on Apr 2, 2019

• added more tests for collision matrix computation

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• fixed all collisionentry tests

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Commits on Apr 5, 2019

• fixed test allow self collision 3

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• fixed test_pybullet_world

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Commits on Apr 8, 2019

• fixed test_pick_and_place

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• fixed test_set_kitchen_joint_state

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• all tests pass

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Commits on Apr 9, 2019

• sped up VisualizationBehavior

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• sped up VisualizationBehavior

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• fixed all the tests

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Commits on Apr 11, 2019

• fixed bug when adding objects twice

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• made it less likely that robot is out of sync when starting to plan

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• using ros behavior trees for better debugging

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• updated python interface

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  7dca0ef

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• fixed a collision avoidance bug

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• sped up calculation of self collision matrix when attaching objects a bit

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Commits on Apr 24, 2019

• added add_mesh to python interface

  

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Commits on Apr 26, 2019

• added pick up spoon test

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• fixed allow_all_collisions in python interface

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• bug fix: link_bs in collision entires are no longer ignored if body_b!=robot

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Commits on Apr 29, 2019

• objects are not being removed twice anymore

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Commits on May 3, 2019

• added test_tray

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